128 results about "Torque steering" patented technology

Aspects of the disclosure relate generally to determining by what degree a driver is gripping a steering wheel. In one example, a computer may send an electrically assisted power steering system (EPS) motor an excitation command to move. The EPS motor may respond by moving a flexible coupling between the steering wheel and the EPS motor. This may cause a corresponding movement at the steering wheel. A torque sensor may generate pattern data by monitoring the flexible coupling during the movement. The EPS motor may generate system position data for the entire steering system, for example, from the tires to the steering wheel. The pattern data and the system position data may be compared by the computer to determine the degree of grip. In this regard, the computer may determine the degree of a driver's grip without the need for additional sensors.

The invention discloses a flexible screen supporting structure, a flexible display screen module and a mobile terminal. The flexible screen supporting structure comprises a base which comprises a body and a scroll rotationally connected with the body, wherein the scroll is used for coiling or unfolding a flexible display screen; a driver which is fixed on the body and is used for driving the scroll to rotate along a first rotation direction; and a torque spring which is connected with the body and the scroll and is used for providing torque force for the scroll to rotate along a second rotation direction, wherein the second rotation direction and the first rotation direction are arranged oppositely. The scroll consumes energy only when rotating along the first rotation direction under the drive of the driver; the scroll can automatically rotate along the second rotation direction under the elasticity of the torque spring; and the effect of reducing the energy consumption is realized. According to the flexible screen supporting structure, the effect of reducing the energy consumption when the flexible display screen is coiled or unfolded can realized.

A torque steer compensation algorithm utilizing selected vehicle parameters, such as for example engine torque, accelerator pedal position, throttle position, transmission gear, and vehicle speed. Rates of change of the parameters are determined and compared to predetermined thresholds, whereby a torque steer factor is determined. The resulting torque steer factor is subsequently multiplied with a conventional, prior art predicted steering assist signal to arrive at a modified steering assist signal which is output to the coil of the steering column to reduce driver perception of torque steer at the steering wheel.

The invention provides an electric steering system test bench and a test method thereof. Multiple items of test can be carried out on the electric steering system before whole vehicle assembly, the electric steering system can be developed perfectly, and the whole vehicle development time is saved. The electric steering system test bench is composed of a torque steering wheel, a mechanical steering gear assembly with a lateral drawbar, a signal conversion module capable of converting inputted control signals into CAN signals, and a power supply module, wherein the end part of the lateral drawbar of the mechanical steering gear assembly is connected with a force sensor and / or a loading device for providing load. The electric steering system test method comprises the following steps: a steering column of the to-be-tested electric steering system and the mechanical steering gear assembly are mounted together, the torque steering wheel is fixedly arranged on the steering column, the signal conversion module and the power supply module are respectively connected with a boosting module of the to-be-tested electric steering system, and then different input output parameters are set according to requirements for realizing different test verification.

The invention provides an automobile power steering system development and performance detection platform which comprises a base, wherein a rail disc guide rail is arranged on the base, rail discs are symmetrically arranged in the length direction of the rail disc guide rail, and rail disc horizontal drive devices are connected between the rail discs and the base. The upper surface of each rail disc is symmetrically provided with two arc rail disc sliding grooves in the direction perpendicular to the rail disc guide rail. The two rail disc sliding grooves are respectively provided with a roller set support, the two roller set supports are provided with roller sets, and the roller sets are arranged in wheel tooth-shaped belts in a sleeved mode. Steering wheels are arranged on a front axle and pressed on the tooth-shaped belts, a torque steering wheel is connected with a steering device, a steering column is provided with a hydraulic / electric power mechanism, and the steering device is connected with the steering wheels. An output shaft of a wheel drive servo motor is connected with a main reducer and a differential assembly. The platform on a stage achieves establishment and restoration of complexity of actual running conditions of the steering wheels to the maximum, the structure is simple, and operation is convenient.

It is an object to provide an electric power steering apparatus capable of preventing torque steer or deflection during braking, a control method thereof and a program for the electric power steering apparatus. An electric power steering apparatus controlling a steering assist motor 20 based on a steering assist command value I calculated based on steering torque T occurring to a steering system of a vehicle and a vehicle speed V, and a current detection value Im of the steering assist motor 20 which gives a steering assist force to the steering system, wherein a compensation control section 70 conducts compensation control that compensates steering characteristics of the steering system by compensating the steering assist command value I, and changes a compensation amount of the compensation control based on longitudinal acceleration αx of the vehicle.

The invention relates to a hexapod bionic power plant boiler water wall inspection and maintenance climbing wall robot comprising a robot body and a plurality of mechanical legs arranged on both sidesof the body, ach mechanical leg consists of three large torque steering gears, thighs, calves, leg root parts, and magnetic feet, and an elastic adaptive device is arranged between the leg root partsand the magnetic foot. Each joint of the mechanical leg is pivotally connected and can rotate freely. The angle of each steering gear is controlled by gait algorithm, and hexapod insects are imitatedto walk, so that the robot can walk flexibly. A light supplement lamp, a camera and a flexible manipulator are arrange on that robot body, and the front end of the flexible manipulator can be equipped with an ultrasonic thickness measuring probe, a water wall welding device and a water wall cutting device, which are use for detecting and repairing the water wall of a boiler. The magnetic feet adopts the electromagnetism that cut off electricity to absorb type, can avoid dropping off the robot caused by the abnormal power cut. The invention has the advantages of strong load capacity, flexiblemovement, strong wall adaptability, almost complete coverage and no dead angle inside the boiler, and good application prospect.

A method and system for inhibiting torque steer in a vehicle equipped with steerable wheels that are power driven. The method determines a maximum engine torque limit, determines an estimated driver-desired torque, and controls the actual torque, by adjustment of the throttle angle, to be the smaller of the maximum engine torque limit and the estimated driver-desired torque. Sensors measure steering angle and transmission gear position and a calculator determines the maximum engine torque limit based upon the steering angle and transmission gear position. Further sensors measure engine speed, throttle angle, and atmospheric pressure, and a calculator estimates driver-desired torque based upon the measured engine speed, throttle angle, and atmospheric pressure. A comparator selects the lower of the maximum engine torque limit and the driver-desired engine torque and uses the selected torque to control throttle angle to inhibit torque steer.

A large-torque steering engine servo system driven by a brushless motor. The system includes a steering engine reducer, a drive motor, a position detection and servo drive controller. The steering engine reducer has relatively high strength and rigidity, can bear certain impact and load, and can be mounted directly as an output joint. A secondary bevel gear group reducer adopts a graphite lubricating copper bush as a sliding bearing to support a gear shaft, and under low-speed motion, can bear a larger load compared with an ordinary roller bearing, and has smaller radial dimension, thereby reducing the size of a reducer shell. The drive motor adopts a two-stage inner rotor brushless direct current motor. The electric steering engine has relatively large structural strength and output power, can be mounted on a joint as a direct driving device, satisfies a requirement of output torque of a joint of a middle-sized robot, is close to an ordinary servo motor in kinematic accuracy, but is relatively low in cost, and thus has wider applicability and popularization significance.

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.

A torque steering angle sensor includes a ring magnet that rotates together with the first rotary member, a second magnetic field detecting element arranged opposite an outer peripheral surface of the ring magnet, a slide magnet arranged opposite the second magnetic field detecting element in the axial direction, and a slide mechanism moving the slide magnet in the axial direction depending on a rotation of the first rotary member; and wherein the steering angle computing portion includes a slide magnet distance computing portion calculating a migration length from a reference position of the slide magnet; and a steering angle correcting portion correcting an offset of the magnetic field strength in the radial direction based on the migration length and configures so as to compute the steering angle of the steering wheel using a magnetic field strength in the radial direction corrected by the steering angle correcting portion.

Provided is a steering assist apparatus (10) for a vehicle, including a transmission device (22) configured to transmit a force and a displacement relating to steering between a steering wheel (18) and steered wheels (20L, 20R), a power steering device (12) configured to apply an assist torque to the transmission device, and a control device (50). When assuming the steering wheel, the transmission device, the power steering device, and the steered wheels as a steering system, the control device is configured to calculate, based on a product of a steering angular velocity and a derivative of the steering angular velocity, a product of the steering angular velocity and a steering torque, and a product of a steering angle and a derivative of the steering torque, a change rate (dDE) of an energy of the steering system, and control the assist torque based on the change rate of the energy of the steering system.

A torque steering angle sensor is provided. The sensor includes a ring magnet with magnetic poles, magnetic path forming members to vary in location relative to the magnetic poles depending on torsion of a torsion bar, one pair of magnetic flux collecting rings for the magnetic path forming members, a first detecting element to detect a magnetic field between the flux collecting rings, a second detecting element to receive a magnetic field from the ring magnet, a slide magnet for producing a magnetic field in a different direction from that of the magnetic field of the ring magnet in the second detecting element, and a sliding mechanism to move the slide magnet toward or apart from the second detecting element with rotation of a rotary member of an electrically assisted power steering device. The second detecting element detects the magnetic fields received from the ring magnet and the slide magnet.

The invention relates to a harmonic gear reducer starting torque and friction resistance torque testing system. The harmonic gear reducer starting torque and friction resistance torque testing system includes a loading driving module, a torque and rotation angle measurement module, a control and data processing module and a testing bench. In a starting torque test, the control and data processing module performs starting torque testing according to a rotation angle test mode or a rotation speed test mode, and finds the maximum value of a loaded torque according to torque values in a testing process, and adopts the maximum value of the loaded torque as the starting torque of a test point of a tested harmonic gear reducer (11). In a friction resistance torque test, the control and data processing module performs friction resistance torque testing according to a friction resistance torque test mode, and acquires the minimum value, maximum value and average value of a friction resistance torque in a testing process according to acquired torque values, rotation angle values and time in the testing process. With the harmonic gear reducer starting torque and friction resistance torque testing system of the invention adopted, problems in accurate, fast and automated measurement of starting torques and friction resistance torques of harmonic gear reducers can be solved, and measurement accuracy can be improved.

A controller of an electric power steering system includes: a basic assist component computing unit (60) that computes a first assist component (Ta1*) based on a steering torque (Th); a steered angle command value computing unit (61) that computes a steered angle command value (θt*) based on the sum of the steering torque (Th) and the first assist component (Ta1*); and a steered angle feedback controller (62) that computes a second assist component (Ta2*) through feedback control on an actual steered angle (θt). The controller further includes: a correction component computing unit (65) that computes a correction component (Tc*) based on a steering angle (θs); and an assist command value computing unit (50) that computes an assist command value (Ta*) by subtracting the correction component (Tc*) from the sum of the first assist component (Ta1*) and the second assist component (Ta2*).

The invention discloses a goods replenishment robot. The goods replenishment robot comprises a device body, and a moving mechanism a goods replenishment mechanism and a control mechanism which are arranged on the device body, wherein the goods replenishment mechanism and the moving mechanism are arranged above and below the device body respectively, and the control mechanism is connected with themoving mechanism and the goods replenishment mechanism. According to the robot, an arduino processor is used for controlling the robot, track sensors serve as a signal to plan a whole walking route, avisual sensor is used for identifying goods, a motor driving module drives four mecanum wheels to rotate so as to enable the robot to carry out omni-directional movement, four universal ball universal wheels and a large-torque steering engine can change the orientation of mechanical claws, a screw rod sliding rail is used as a mechanical arm capable of ascending and descending to enable the mechanical claws to slide up and down, the three different types of mechanical claws are arranged on the screw rod sliding rail in a T shape, and three different types of goods can be grabbed at one time.

The invention provides a torque sensor approximately in a coupling flange shape. The torque sensor comprises a main body component and a circuit portion, wherein the main body component is internally used for measuring torque strain through a strain foil adhered in the middle of an elastomer, and then the circuit portion is used for conversion and wireless transmission of signals. The torque sensor has the advantages that the torque sensor is simple in structure and low in processing difficulty and cost; the torque sensor has functions of a coupler, can act synchronously with a measured part without adding a mounting base, is suitable for static and dynamic measurement and achieves real-time torque measurement on rotating machinery during actual production effectively.

The invention relates to a tool for fixing and switching torque testing of valves and relates to the field of torque testing of the valves. By the aid of the tool, the problems that conventional measuring methods cost much time and labor, testing speed is limited, manual torque measuring process has certain risk and is easy to cause personal injury of workers are solved. The technical scheme includes that the tool for fixing and switching torque testing of the valves comprises a base, T-shaped blocks, V-shaped blocks, support rods, press plates and lifting rings, the bottom surfaces of the V-shaped blocks are provided with T-shaped grooves matched with the T-shaped blocks. The tool can measure the torque smoothly without rotating the valves, during actual measurement, labor intensity of the workers is alleviated, operational safety is improved, and measuring efficiency of the valves is improved. Meanwhile, the tool is simple in structure and reasonable in part design, the parts are easy to machine and cost fewer materials, and cost is greatly saved.

When the steered wheels are driven, there is a problem of the torque steering that the steering is disturbed by the difference in the driving forces between a pair of left and right steered wheels. Before such a problem, there is a problem that, since the vehicle is apt to run straight ahead more strongly as the driving force increases even when a uniform driving torque is given to a pair of steered wheels, a larger force is required to steer the vehicle leftward or rightward by overcoming such a tendency of running straight ahead. In view of the above, the steering assist force is increased according to an increase of the driving torque of the steered wheels in a manner of harmonizing the steering assist force to the magnitude of the steering resistance due to the driving torque of the steered wheels, so as to improve the steering feeling.

An all-terrain vehicle electronic steering device with a limit function comprises a body, wherein a torque steering component is arranged in the body, and connects a handle with front wheels, an upper cover is arranged on the body, a limit part is sleeved on the torque steering component, a groove is arranged at the edge of the limit part, two retaining surfaces which are adjoined with the groove are formed, the side of the upper cover, which is adjoined with the limit part, is provided with a limit block which extends into the groove, wherein the limit part is matched with the limit block of the upper cover, so the purpose of limiting the left and right rotation of the handle is realized. A built-in design is adopted, so the assembling processes are simplified for improving the assembling convenience.

The present invention relates to an electronic control unit and a method for compensating for a torque steer. The electronic control unit includes: a driving torque calculation unit that calculates a drive shaft driving torque value using engine operation information and transmission operation information; a torque steer degree calculation unit that calculates the actual driving torque value of a vehicle based on the drive shaft driving torque value, and calculates a torque steer degree by using the actual driving torque value; a compensation current calculation unit that calculates a torque steer compensation current value that compensates for the torque steer using the torque steer degree; and a motor driving control unit that calculates a basic control current value using a steering angle and a steering torque value, calculates the final control current value by adding the torque steer compensation current value to the basic control current value, and generates a control current according to the final control current value in order to supply the control current value to an electric motor.

The invention provides a power-assisted steering system redundancy control system and method based on a calibrated vehicle speed and a vehicle. The system comprises a steering column redundancy system, a steering gear redundancy system and an electronic control unit information channel, wherein the steering column redundancy system is used for making a first motor arranged on a steering column provide an assistance torque when the vehicle speed v is less than or equal to A or v is greater than A; the steering gear redundancy system is used for making a second motor arranged on a steering gearprovide an assistance torque when the vehicle speed v is less than or equal to A and the assistance torque provided by the first motor reaches a first set proportion S of a rated output torque K of the first motor; and the electronic control unit information channel is used for realizing communication between the steering column redundancy system and the steering gear redundancy system. The methodcomprises the following steps that in a normal working mode, when the vehicle speed v is less than or equal to A or v is greater than A, the first motor arranged on the steering column provides the assistance torque; and when the vehicle speed v is less than or equal to A and the assistance torque provided by the first motor reaches the first set proportion S of the rated output torque K of the first motor, a second motor arranged on the steering gear provides the assistance torque.

A steering control apparatus is provided for a vehicle having a steering wheel for steering its steered wheels, a power source for generating power, and drive shafts for transferring the power to the wheels, to be served as driving wheels of the vehicle, and a traction control device for controlling braking torque applied to the wheels. The apparatus comprises a detection device for detecting the braking torque applied to the wheels, a calculation device for calculating a driving force difference between the wheels, on the basis of the detected braking torque, a power source state detection device for detecting an actuating state of the power source, and a control device provided for controlling steering torque created by the steering wheel, and applying torque steer reducing torque to the steering wheel. A desired value of the torque steer reducing torque is determined, on the basis of the driving force difference and the actuating state of the power source. And, the torque steer reducing torque is applied to the steering wheel, in accordance with the desired value of the torque steer reducing torque, to reduce the torque steer.

The invention provides an automobile rollover prevention control system based on an electric power steering device, which belongs to the technical field of automobiles and aims to solve the problem that the automobile running safety cannot be effectively protected by the traditional automobile rollover prevention control system. The automobile rollover prevention control system based on the electric power steering device comprises an electronic control unit, a motor, a torque steering sensor and a vertical force detector which are respectively connected with the electronic control unit and a rotate speed detector which is used for detecting the rotate speed of the steering wheel, wherein the vertical force detector is used for detecting a vertical force borne by automobile wheels and sending the vertical force to the electronic control unit; when the vertical force borne by the wheels at one side of an automobile is less than a set value, the electronic control unit judges that the automobile has the rollover trend and sends a control signal to control a motor to generate a reverse moment so as to reduce the rotate speed of the steering wheel. The automobile rollover prevention control system based on the electric power steering device has the advantage that the rollover condition of the automobile is caused by overhigh rotate speed and overlarge rotor angle of the steering wheel can be effectively avoided.

The invention discloses a three-motor steering-by-wire system and a control method thereof. The system comprises a steering wheel module, a steering module and an ECU control module. The steering wheel module is used for a driver to operate and control a vehicle to turn, the steering module comprises a first clutch, a third motor, a planet gear mechanism, a second clutch, a first motor, a second motor, a steering gear and a steering rack, ECU in the ECU control module reads the vehicle running speed, a corner signal of a steering wheel, a torque signal of a rotating rod, current fed back by all motor controllers and other signals, the vehicle steering working conditions are analyzed and judged, and then running of all motors and on and off of the clutches are controlled; motor power is subjected to coupling and distribution through the planet gear mechanism and then cooperates with on and off of the clutches, switching of different steering modes of the steering system is achieved, andthen the requirements of the different steering working conditions and the safety of the system are met.

The invention relates to the field of motor steering, and in particular to a column-type electric power steering system. A first electromagnetic clutch is connected between an upper main shaft and a lower main shaft in a steering column and is closed after receiving a control signal which is output by an electric power steering system controller, and the upper and lower main shafts are synchronous shafts when the first electromagnetic clutch is closed; a torque sensor is arranged between the steering column and the upper main shaft; and the electric power steering system controller outputs the control signal to a power boosting mechanism so as to drive the lower main shaft in the steering column to rotate. The system is simple in structure and low in cost; the system is simple in control method and has high detection data reliability; and small interference and weaker attenuation are generated during a signal transmission process, and a better power boosting effect is obtained.

The present invention provides a pipe union that uses mechanical advantage from leverage between a locknut with circumferential torque openings coupled to a tubular first portion and a torque ring with torque slots coupled to a tubular second portion to tighten the union. The tightening can occur without the need of a hammer impact on lugs. Initial tightening can at least partially align longitudinally the radial holes with the radial slots. Final tightening can occur by rotating the torque openings relative to the torque slots using mechanical advantage. Optionally, the pipe union can provide for a ratcheting mechanism to turn the locknut on the tubular first portion to engage the tubular second portion and exert a preliminary torque on the union. The pipe union design also provides a self-energizing elastomeric seal or metal seal. Angles on load shoulders can assist in creating preloads on the union to seal the components.

The invention relates to an automatic auxiliary illuminating system for motor steering, which is characterized in that: the system comprises an automobile headlight switch, a left steering position switch and a right steering position switch which are automatically controlled by a steering rocker arm on an automobile steering system, a left steering auxiliary illuminating light and a right steering auxiliary illuminating light installed at the left and the right edges of the front part of the automobile, and a power supply; wherein, the left steering position switch is connected with the left steering auxiliary illuminating light in series, the right steering position switch is connected with the right steering auxiliary illuminating light in series, the two series circuit are connected in parallel and then connected with the automobile headlight switch in series to be connected between the power supply and a ground wire; when the automobile headlight switch is turned off, and the steering rocker arm on the automobile steering system automatically controls the left steering position switch and the right steering position switch to be turned on or turned off, the circuit of the illuminating system is conducted, and the left steering auxiliary illuminating light or the right steering auxiliary illuminating light are turned on. The system has simple structure and low cost, can automatically control the auxiliary illuminating light to be turned on or turned off during the turning process, thus guaranteeing the safe turning of the automobile.