Steering power assist control system and control method for electromagnetic clutch of heavy vehicle (2) _hebei hengjin transmission machinery Co., ltd.

Hebei Hengjin Transmission Machinery Co., Ltd.
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Steering assist control system and control method for electromagnetic clutch of heavy vehicle (2)

Release time: November 11, 2016

图1为一种重型车辆电磁离合器转向助力控制系统在一种输入转矩下助力特性曲线;图2为助力斜率系数K与车速和方向盘扭矩的关系图;图3为一 重型车辆电磁离合器转向助力控制系统结构示意图;图4为一 重型车辆电磁离合器转向助力控制系统工作流程图。 Brief description of the drawings: FIG. 1 is a power assist characteristic curve of an electromagnetic clutch steering assist control system for a heavy vehicle under an input torque; FIG. 2 is a relationship diagram between a power assist slope coefficient K and a vehicle speed and a steering wheel torque; FIG. 3 is a heavy duty Vehicle electromagnetic clutch steering assist control system structure diagram; Figure 4 is a flowchart of a heavy vehicle electromagnetic clutch steering assist control system. 1 电磁转差离合器;2 控制单元;3 轮速传感器;4 组矩传感器; 5、压力传感器,6、供电电路。 Marked in the picture: 1. Electromagnetic slip clutch; 2. Control unit; 3. Wheel speed sensor; 4. Group moment sensor; 5. Pressure sensor. 6. Power supply circuit.
如图3所示,本发明提出了一种重型车辆电磁离合器转向助力控制系统,包括电磁转差离合器 1 ,控制单元2,轮速传感器3,扭矩传感器4,圧力传感器5,供电电路6。 DETAILED DESCRIPTION: As shown in FIG. 3, the present invention proposes a steering assistance control system for an electromagnetic clutch of a heavy vehicle, which includes an electromagnetic slip clutch 1 , a control unit 2, a wheel speed sensor 3, a torque sensor 4, a force sensor 5, and a power supply. Circuit 6. The electromagnetic slip clutch 1 is an excitation type electromagnetic slip clutch, and the control unit is an on-board electronic control unit ECU. 电,励磁式电磁转差离合器输出转速至转向泵,励磁式电磁转差离合器设置在发动机与转向泵之间。 The power supply circuit 6 is composed of a power supply and a power transmission line; the wheel speed sensor 3, the torque sensor 4 and the force sensor 5 are all connected to the input terminal of the control unit 2, the output terminal of the control unit 2 is connected to the power supply circuit 6, and the power supply circuit 6 is connected to the excitation The electromagnetic electromagnetic slip clutch is connected. The power supply circuit 6 supplies power to the electromagnetic electromagnetic slip clutch . The magnetic electromagnetic slip clutch outputs the rotation speed to the steering pump. The magnetic electromagnetic slip clutch is arranged between the engine and the steering pump.
H PS) 的关键动力组件,采 励磁形式产生内部电磁场,由离合器主动部分转动切割磁力线产生力,从而使离合器主动与被动部分发生同向旋转,同时主动与被动部分转速存在差值, 差值大于零。 Excitation type electromagnetic slip clutch is the key power component of the electronically controlled hydraulic power steering system (E-EC H PS) of the electromagnetic slip clutch . It uses excitation to generate the internal electromagnetic field. The active part of the clutch rotates and cuts the magnetic lines of force to generate force. The active and passive parts of the clutch rotate in the same direction, and there is a difference in speed between the active and passive parts, and the difference is greater than zero.
上,轮速传感器3采用霍尔式轮速传感器,霍尔式轮速传感器由传感头和齿圈 成(传感头由永磁体、霍尔式元件和电子电路组成),应用在尔式原理进行 作,具有输出信号电压振幅不受转速影响、频率响应高、抗电磁波 扰能力强的 The wheel speed sensor 3 is arranged on the wheel shaft . The wheel speed sensor 3 uses a Hall-type wheel speed sensor. The Hall-type wheel speed sensor is composed of a sensor head and a ring gear (the sensor head is composed of a permanent magnet, a Hall-type element and Electronic circuit composition), which is based on the Seoul principle to work , has the characteristics of output signal voltage amplitude is not affected by the speed, high frequency response, strong ability to resist electromagnetic interference . / ESP 系统的轮速传感器并用。 The wheel speed sensor 3 can also be used in combination with the wheel speed sensor of the ABS / ESP system which is widely installed at the present stage of the vehicle .
矩传感器4安装在方向盘转动杆上,组矩传感器4采用 接触式扭矩传感器,非接触式扭矩传感器由输入轴和输出轴通过扭杆相连,输入轴上有花键,输出轴上有键槽。 The torque sensor 4 is installed on the steering wheel rotation lever. The group moment sensor 4 uses a non- contact torque sensor. The non-contact torque sensor is connected by the input shaft and the output shaft through a torsion bar. There is a spline on the input shaft and a keyway on the output shaft. . When the torsion bar is twisted by the turning torque of the steering wheel, the relative position between the spline on the input shaft and the key groove on the output shaft changes. 的扭转量,使得花键上的磁感强度改变,磁感强度的变化,通过线圈转化为电压信号进行输出。 The amount of change in the relative displacement of the spline and the keyway is equal to the amount of twist of the group rotating rod , so that the magnetic induction intensity on the spline changes, and the change of the magnetic induction intensity is converted into a voltage signal through a coil for output. The non-contact torque sensor uses a non-contact working method, so it has a long life, high reliability, less susceptible to wear, less time delay, and less affected by shaft deflection and axial offset. It is widely used in Automotive sector.
The pressure sensor 5 is arranged in a hydraulic cylinder. The pressure sensor 5 is a piezoelectric pressure sensor. The principle of the piezoelectric pressure sensor is based on the piezoelectric effect. 出现正负相反的电荷。 The piezoelectric effect is that when some dielectric material is deformed by an external force in a certain direction, a polarization phenomenon will occur inside it, and positive and negative charges will appear on its two opposite surfaces . When the external force is removed, it will return to an uncharged state. This phenomenon is called the positive piezoelectric effect. 也随之改变。 When the direction of the force changes, the polarity of the charge changes. 施加电场,这些电介质也会发生变形,电场去掉后,电介质的变形随之消失,这种现象称为逆压电效应。 Conversely, when an electric field is applied in the direction of polarization of the dielectric , these dielectrics also deform. When the electric field is removed, the deformation of the dielectric disappears. This phenomenon is called the inverse piezoelectric effect. There are many types and types of piezoelectric pressure sensors, which can be divided into two types: diaphragm type and piston type according to the form of elastic sensitive elements and force receiving mechanisms. 成。 The diaphragm type is mainly composed of a body, a diaphragm and a piezoelectric element . ,由膜片 被测压力传递给压电元件,再由压电元件输出与被测压力成一定关系的电信号。 The piezoelectric element is supported on the body , and the measured pressure is transmitted to the piezoelectric element by the diaphragm , and then the piezoelectric element outputs an electric signal having a certain relationship with the measured pressure. 性好、耐高温等。 The characteristics of this sensor are small size, good dynamic characteristics , high temperature resistance and so on.
The signal transmission circuits of the above three sensors are all connected to the control unit; the control unit 2 includes a wheel speed sensor signal receiving terminal, a torque sensor signal receiving terminal, a force sensor signal receiving terminal, a signal processing unit, and a boost current signal output terminal; a wheel speed sensor The signal receiving end is connected to the wheel speed sensor 3, the group moment signal receiving end is connected to the group moment sensor 4, the pressure signal receiving end is connected to the pressure sensor 5, and the boost current signal output end is connected to the power supply circuit.
a 的増大而增大,当方向盘转知 T d 达到某一车速下对应的方向盘理想转矩后,不再变化,K=0。 The assist current changes linearly in proportion to K 値 at different vehicle speeds. The assist current increases as the steering resistance torque T a increases. When the steering wheel turns to know that T d reaches the corresponding steering wheel ideal torque at a certain vehicle speed, it does not change. , K = 0. The K value decreases with the increase of the vehicle speed, and the current peak value 値 is smaller than the peak value of the previous vehicle speed, so as to meet the road feel of steering when driving at high speed. When turning in place, the current peak is maximum to meet low speed driving, especially when steering in place is light.
性曲线, ECU中信号处理单元中储 有预先标定的在某一车速和某一方向盘输入转矩时的ESC所需电流值;电流值是根据不同车速下,不同的转向 力所确定的,而转向阻力矩是要根据输入转矩折算而得,所以不同方向盘输入转矩,相同车速下输入电流会有不同 As shown in Figure 1, a heavy vehicle electromagnetic clutch steering assist control system assists the characteristic curve under an input torque . The signal processing unit in the ECU stores a pre-calibrated input rotation at a certain vehicle speed and a certain steering wheel. The current value of ESC required at the moment; the current value is determined according to different steering speeds at different vehicle speeds , and the steering resistance torque is calculated based on the input torque. Therefore, the input torque of different steering wheels at the same vehicle speed The input current will vary . 1 中的横坐标是转向阻力知和车速,纵坐标是输出电流,输出电流根据不同车速和转向阻力矩确定。 The abscissa in FIG. 1 is the steering resistance and vehicle speed, and the ordinate is the output current. The output current is determined according to different vehicle speeds and steering resistance torques.
4 所示,为本发明提出的一种重型车辆电磁离合器转向助力控制系统的控制流程图,包括步骤如下: 骤1,利用轮速传感器(3)获得轮速信息,利用扭矩传感器(4)获得方向盘组矩信息,利用压力传感器(5)获得液压缸内部压力信息;步骤2,控制单元(2)接收轮速信息,方向盘组矩信息和液压缸内部压力信息; 骤3,控制单元(2)处理方向盘扭矩信息,获得方向盘 矩大小; 4 ,控制单元(2)处理液压缸内部压力信息,获得此时的压力値,进而处理得到此时的转向阻力矩T a 骤5,控制单元(2)处理轮速信息,获得轮速大小,并利用方向盘扭矩大小,处理获得助力斜率K; 骤6,控制单元(2)根据转向阻力定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 = KT a 骤7,控制单元(2)将助力电流I,输出给供电电路(6);步骤8,供电 As shown in FIG. 4 , a control flowchart of an electromagnetic clutch steering assist control system for a heavy vehicle according to the present invention includes the following steps : Step 1. Use a wheel speed sensor (3) to obtain wheel speed information, and use a torque sensor ( 4) Obtain steering wheel moment information, and use pressure sensor (5) to obtain the internal pressure information of the hydraulic cylinder; Step 2, the control unit (2) receives wheel speed information, steering wheel moment information and internal pressure information of the hydraulic cylinder; Step 3, control The unit (2) processes the steering wheel torque information to obtain the steering wheel torque magnitude; step 4 , the control unit (2) processes the internal pressure information of the hydraulic cylinder to obtain the pressure 値 at this time, and then processes to obtain the steering resistance torque T a at this time ; Step 5, the control unit (2) processes the wheel speed information to obtain the wheel speed, and uses the steering wheel torque to obtain the assist slope K; Step 6, the control unit (2) determines the Ta size and the assist slope coefficient according to the steering resistance K size, the calculated value of the system at this time period required to boost current I, I = KT a; step 7, the control unit (2) to assist current I, output to the power supply circuit (6); step 8, the power supply 骤9,电磁转差离合器(1)输出相应转速,即转向助力系统输出相应助力。 Road (2) the excitation current corresponding to the magnitude of the output I of electromagnetic slip clutch; step 9, the electromagnetic clutch slip (1) corresponding to the output speed, i.e., the corresponding output power steering system.

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