本发明涉及重型车辆底盘转向系统与电磁电路领域，特别是涉及应用于重型车辆新型电磁离合器式液压助力转向系统(E-EC H PS) 的转向主力控制系统及控制方法技术。 TECHNICAL FIELD: The present invention relates to the field of heavy vehicle chassis steering systems and electromagnetic circuits, and in particular, to a steering main force control system and control method technology applied to a new electromagnetic clutch hydraulic power steering system (E-EC H PS) for heavy vehicles .
传统液圧助力转向系统(HPS)，转向泵直接由发动机驱动，是一种设计简单、易于实现的转向助力系统，从一定程度上减轻了驾驶员转向时的负担，但是其助力不可调，仅仅与发动机转速成正相关，低速时转向助力过小，高速时转向助力过大，同时因为产生了多余的助力，使得一部分能耗浪费。 BACKGROUND OF THE INVENTION Conventional liquid-hydraulic power steering (HPS), the steering pump is directly driven by the engine, is a steering assist system with a simple design and easy implementation, which reduces the burden on the driver when steering, but its assistance cannot The adjustment is only positively related to the engine speed. The steering assistance is too small at low speeds and too large at high speeds. At the same time, part of the energy consumption is wasted because excess assistance is generated. H PS) ，转向泵由一个独立的电动机驱动，而其输入电流的大小由控制单元决定，克服了 H PS 的转向不可调，可以做到在低速时助力较大，高速时助力较小，减少了多余的能耗，但是因为成本与系统安全等问题，在重型车辆上应用有限。 Electro-hydraulic power-assisted system (E H PS) , the steering pump is driven by an independent electric motor, and the input current is determined by the control unit, which overcomes the unadjustable steering of the HP PS , which can achieve greater assistance at low speeds and high speeds. The time assistance is small, reducing excess energy consumption, but because of cost and system safety issues, its application on heavy vehicles is limited.
前，电磁转差离合器(ESC)多分为励磁式电磁转差离合器和永磁式电磁转差离合器两种，因为励磁式转差离合器的控制环节较为简单，故该种形式应用较为 广 泛。 At present , the electromagnetic slip clutch (ESC) is mostly divided into two types: an excitation type electromagnetic slip clutch and a permanent magnet type electromagnetic slip clutch. Since the control link of the excitation type slip clutch is relatively simple, this form is widely used . 也 同时兼顾低速时的转向轻使和高速时的行驶路感，在传统的液压助力转向系统(HPS)上，因为其助力只跟发动机转速有关，所以无法达到同时兼顾二者的作用。 During the driving process of the vehicle, the power steering system also takes into account the steering ease at low speed and the road feel at high speed. In the traditional hydraulic power steering system (HPS), because the power assistance is only related to the engine speed, it cannot reach Take into account the role of both. While the vehicle is driving, too little steering system assistance at low speeds will cause the driver to struggle to turn, and too much steering system assistance at high speeds will cause the driver to lose road feel, which is not conducive to steering at high speeds. Vehicle stability and driving safety.
用 电磁转差离合器(ESC) 的转差特性， 将 原本HPS浪费的能 耗 进行 回 收，并可依照E H PS 的控制方式对输出助力进行可调变换，同时于转向阻力矩大小相关，以达到设计所需要的指标。 The electronically controlled hydraulic power steering system (E-ECHPS) of the electromagnetic slip clutch for heavy vehicles is between HPS and EHPS. Using the slip characteristics of the electromagnetic slip clutch (ESC), the original energy waste of the HPS is carried out. It can be recycled , and the output assistance can be adjusted in accordance with the control method of E H PS . At the same time, it is related to the steering resistance torque to achieve the design requirements. The new steering system E-ECHPS uses an exciting electromagnetic slip clutch as the power unit. By changing the amount of current input to the exciting ESC, the assist force can be changed differently from the traditional system with the change of the vehicle speed, thereby taking into account the low speed. Light steering at the time and road feel at high speed.
为了解决上述车辆在行驶过程中，低速时转向系统助力过小就会导致驾驶员转向费力，高速时转向系统助力过大，又会造成驾驶员对路感的丧失，不利于在高速状态下转向时的车辆稳定和行驶安全等问题，本发明给E-ECHPS助力转向系统励磁式ESC提供一种在正常行驶车速下的转向助力控制系统及控制方法，通过改变励磁电路的电流大小，进而改变助力大小，从而达到兼顾低速时的驾驶员转向轻便和高速时的驾驶员方向盘路感的作用。 Summary of the invention: In order to solve the above-mentioned vehicle during driving, too little steering system assistance at low speeds will cause the driver to labor hard, too much steering system assistance at high speeds will cause the driver to lose road feel, which is not conducive to high speed The vehicle stability and driving safety when steering in a state, etc. The present invention provides an E-ECHPS power steering system excitation ESC with a steering assist control system and control method at normal driving speed. By changing the current of the excitation circuit, Furthermore, the amount of assist force is changed, so that the driver's steering lightness at low speed and the driver's steering feel at high speed can be considered.
The adopted technical scheme is as follows: The steering assistance control system for the electromagnetic clutch of a heavy vehicle includes an electromagnetic slip clutch, a control unit, a wheel speed sensor, a torque sensor, a pressure sensor, and a power supply circuit. 用 于获取轮速，扭矩传感器用于获取方向盘扭矩，压力传感器 用 于获取液压缸内部压力信号，控制单元根据轮速传感器、扭矩传感器以及压力传感器提供的信息，计算得出转向 阻 力矩 Ta 、助力斜率系数k、助力电流I ， 并 将 助力电流输出给供电电路；供电电路包括供电电源和输电线路，供电电路根据助力电流I，的大小输出相应的励磁电流I给电磁转差离合器；电磁转差离合器根据励磁电流I大小输出转速信息至转向泵。 The wheel speed sensor, torque sensor, and force sensor are all connected to the input of the control unit, the output of the control unit is connected to the power supply circuit, the power supply circuit is connected in series with the electromagnetic slip clutch, and the electromagnetic slip clutch is arranged between the engine and the steering pump Between; wheel speed sensor is used to obtain wheel speed, torque sensor is used to obtain steering wheel torque, pressure sensor is used to obtain internal pressure signal of hydraulic cylinder, the control unit calculates based on information provided by wheel speed sensor, torque sensor and pressure sensor Steering resistance torque Ta , boosting slope coefficient k, boosting current I , and output the boosting current to the power supply circuit; the power supply circuit includes a power supply and a transmission line, and the power supply circuit outputs a corresponding exciting current I to the electromagnetic rotation according to the magnitude of the boosting current I Differential clutch; electromagnetic slip clutch outputs rotational speed information to the steering pump according to the magnitude of the exciting current I.
主 丑矩传感器采 用 非接触式扭矩传感器，压力传感器采用压电式压力传感器；控制单元为车载电控单元，电磁转差离合器为励磁式电磁转差离合器；助力电流I ， 与转向阻力矩 Ta 、助力斜率系数K的关系为：I=K Ta ；励磁电流 I 与助力电流 I 的值相等； Preferably, the wheel speed sensor is installed on the wheel shaft, the torque sensor is installed on the steering wheel rotating rod, and the pressure sensor is installed in the hydraulic cylinder; the wheel speed sensor is a Hall-type wheel speed sensor, and the main torque sensor is a non-contact torque. The sensors and pressure sensors use piezoelectric pressure sensors; the control unit is an on-board electronic control unit, and the electromagnetic slip clutch is an exciting electromagnetic slip clutch; the relationship between the assist current I and the steering resistance torque Ta and the assist slope coefficient K is: I = K Ta ; the values of the excitation current I and the boost current I are equal;
步 骤1 ，利 用 轮速传感器获得轮速信息，利用扭矩传感器获得方向盘扭矩信息，利用圧力传感器获得液圧缸内部圧力信息； 步 骤2，控制单元接收轮速信息，方向盘扭矩信息和液压缸内部压力 信 息；步骤3，控制单元处理方向盘扭矩信息，获得方向盘组矩大小； 步 骤4，控制单元处理液压缸内部压力信息，获得此时的压力值，进而处理得到此时的转向阻力矩 Ta ； 步 骤5，控制单元处理轮速信息，获得轮速大小，并利用方向盘扭矩大小，处理获得助力斜K；步骤6，控制单元根据转向阻力矩Ta大小和助力斜率系数K的大小，计算得出此时段系统所需助力电流 I 的值，I= KTa； 步 骤7，控制单元将助力电流 I ，输出给供电电路； 步 骤8，供电电路输出相应大小的励磁电流I给电磁 Based on the above system, the present invention also proposes a steering assistance control method for electromagnetic clutches of heavy vehicles, including the following steps: Step 1. Use wheel speed sensors to obtain wheel speed information, use torque sensors to obtain steering wheel torque information, and use force sensors to obtain The internal force information of the hydraulic cylinder ; Step 2, the control unit receives wheel speed information, steering wheel torque information, and internal pressure information of the hydraulic cylinder ; Step 3, the control unit processes the steering wheel torque information to obtain the steering wheel moment; Step 4, the control The unit processes the internal pressure information of the hydraulic cylinder to obtain the pressure value at this time, and then processes to obtain the steering resistance torque Ta at this time ; Step 5, the control unit processes the wheel speed information to obtain the wheel speed, and uses the steering wheel torque to process the obtained Assistance ramp K; Step 6, the control unit calculates the value of the assist current I required by the system during this period according to the magnitude of the steering resistance torque Ta and the assist slope coefficient K , I = KTa; Step 7, the control unit will assist the current I, output to the power supply circuit; step 8, the size of the exciting current supply circuit corresponding to the solenoid output I Slipping clutch; Step 9, a respective electromagnetic slip clutch output speed, i.e., the corresponding output power steering system.
现 有技术相比，本发明的有益效果：( 1 ) 通过轮速传感器，扭矩传感器和压力传感器，系统获得准确的车速，方向盘扭矩和转向阻力知信息。 Compared with the prior art, the present invention has the following beneficial effects: ( 1 ) The system obtains accurate vehicle speed, steering wheel torque, and steering resistance knowledge through a wheel speed sensor, a torque sensor, and a pressure sensor. 扭 矩和转向阻力矩信息进行处理，达到整个系统的按需功率匹配要求，实时调整励磁电路电流大小，从而实时调节系统输出的助力大小；(2)通过系统的协调配合运算，有效的克服了传统液压助力转向系统( H PS) 在转向时同时兼顾低速转向的轻便和高速转向时路感的不足，转向助力不再与发动机转速成正比，而是随着车速的提高，呈现一种逐渐下降的趋势。 The control unit processes the vehicle speed, steering wheel torque, and steering resistance torque information to meet the on-demand power matching requirements of the entire system, and adjusts the current of the excitation circuit in real time to adjust the power output of the system in real time; (2) Through the coordination of the system With the calculation, the traditional hydraulic power-assisted steering (HPS ) system effectively overcomes the shortcomings of both low-speed steering and high-speed steering when steering, and the steering assistance is no longer proportional to the engine speed, but with the speed of the vehicle. Increase, showing a gradual decline. When the vehicle is at a low speed, the K value is large, the current is fast, the power increase is obvious, and the peak value is large; when the vehicle speed is high, the K value is small, the current speed is slow, the power increase is not obvious, and the peak value is small. The output of the system enables the driver to easily steer the vehicle at low speed and easy to control the vehicle speed. When the vehicle is not easy to control at high speed, he can use the feedback of the steering wheel to understand the driving state of the vehicle in a timely and subjective manner, ensuring the driver ’s Physical fitness and vehicle driving safety; (3) From the perspective of on-demand power matching, the amount of assistance varies with the amount of steering resistance, avoiding unnecessary waste of energy, and achieving the goal of taking into account both low-speed steering and light-speed steering At the same time, the energy consumption of the system is reduced accordingly.
For more details, please refer to the electromagnetic clutch steering assist control system and control method for heavy vehicles.