CN201009887Y - Electric boosting steering and semi-active suspensing integration controller - Google Patents
Electric boosting steering and semi-active suspensing integration controller Download PDFInfo
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- CN201009887Y CN201009887Y CNU2007200333471U CN200720033347U CN201009887Y CN 201009887 Y CN201009887 Y CN 201009887Y CN U2007200333471 U CNU2007200333471 U CN U2007200333471U CN 200720033347 U CN200720033347 U CN 200720033347U CN 201009887 Y CN201009887 Y CN 201009887Y
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- 230000010354 integration Effects 0.000 title 1
- 239000000725 suspension Substances 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims abstract description 8
- 238000003745 diagnosis Methods 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000005669 field effect Effects 0.000 claims description 8
- 238000002955 isolation Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000005622 photoelectricity Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 240000007320 Pinus strobus Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
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Abstract
A controller integrating power-assisted steering and semiactive suspension frame is provided. The controller comprises an electronic control unit, a torque sensor, a vehicle speed sensor, a Hall current sensor, a vehicle vertical acceleration sensor signal collection/processing unit, an photoelectric H bridge driving/controlling circuit, a stepping motor and clutch driving circuit, an alarm circuit, and a fault diagnosis circuit. The electronic control unit performs data operation upon the programmed software algorithm according to the sensor signal, and then determines the power-assisted motor current of the power-assisted steering system and the stepping motor current of the tunable damper of the active suspension frame, so that the power-assisted motor provides the proper power torque and the damping of the tunable damper is regulated, thereby ensuring the suspension frame in optimum damping state. Therefore, the controller can not only improve the steering flexibility and high-speed stability but also reduce the ground vibration and the ability of resisting against vehicle roll, and helps to improve the operational stability, safety and rode comfort of vehicle.
Description
Technical field
The utility model relates to a kind of electric power steering and semi-active suspension integrated manipulator
Background technology
Energy-conservation, safety, environmental protection have become three big themes of development of automobile.The conventional hydraulic power steering system exists intrinsic shortcoming, and is higher such as energy consumption, quality is heavier, complex structure, installation difficulty, noise are difficult to control, oil leaking pollution etc.Electric boosting steering system is a class new type power steering swivel system that occurs in recent years, and it uses the power of electrical motor to help chaufeur to turn to.Compare with hydraulic power-assist steering system, this system can significantly improve Automobile Dynamic performance and static properties, reduce energy resource consumption, improve the traveling comfort and the safety of chaufeur in travelling, reduce environmental pollution, be the new and high technology of development of automobile, the trend that progressively replaces the conventional hydraulic power steering is arranged.
Suspension system is the important composition parts that guarantee vehicle riding comfort and driving safety.Traditional passive suspension parameter changes once selected just being difficult to.Therefore in design process, can only seek the half-way house an of the best and determine parameter.That is to say that only under specific operating mode, the performance of vehicle is only best, vehicle driving-cycle is (for example acceleration when condition of road surface and vehicle ', the variation of braking, turning to etc.) in case change, and its performance will worsen.Thereby traditional passive suspension can not satisfy the requirement of traveling comfort and safety simultaneously, and this has just limited the further raising of vehicle performance.Semi-active suspension can change the damping or the rigidity of suspension system voluntarily according to the state of vehicle ', makes suspension property optimum under this state, thereby makes suspension always work in optimum state, improves the travelling comfort and the driving safety of vehicle.
Though more than two systems separately control can obtain effect preferably, the operating condition of automobile is often to change, therefore to turning to or the independent control of suspension is difficult to guarantee that vehicle handling stability and riding comfort are improved simultaneously.In addition, two systems control separately make that car chassis system complex degree improves, reliability reduces, cost raises, with the developing direction of automotive technology be inconsistent.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned prior art defective, and a kind of electric power steering and semi-active suspension integrated manipulator are provided.
The purpose of this utility model is achieved through the following technical solutions:
Electric power steering and semi-active suspension integrated manipulator, by an electronic control unit, torque sensor acquisition of signal and processing unit, car speed sensor acquisition of signal and processing unit, Hall current sensor acquisition of signal and processing unit, vehicle body normal acceleration collecting sensor signal and processing unit, a photoelectricity isolation control circuit, a H bridge driving circuit, a stepper motor driving circuit, a power-transfer clutch Drive and Control Circuit is formed, it is characterized in that, photoelectricity isolation control circuit one end connects electronic control unit, the other end connects H bridge driving circuit, and the other end direct connection DC machine of H bridge driving circuit.
Wherein electronic control unit connects all collecting sensor signals and processing unit and Drive and Control Circuit.
Wherein the photoelectricity isolation control circuit comprises: four with door, two joint denial gates wherein have three directly to link to each other with three optical coupling isolators with door, have a joint denial gate to link to each other with an optical coupling isolator.Employing single-polarity PWM modulation system is controlled the optical coupling isolator unlatching or is ended.
Wherein H bridge driving circuit constitutes H bridge driving circuit by the MOSFET pipe of four high-power N raceway grooves, drives the assist motor rotating by the MOSFET that controls four high-power N raceway grooves is effective.
Wherein stepper motor driving circuit adopts SH step motor drive electrical equipment, incoming signal adopts photoelectric isolating circuit to enter SH step motor drive electrical equipment, input end connects electronic control unit, and mouth connects stepping motor, comes drive stepping motor by stepping pulse signal and direction level signal.
Wherein the power-transfer clutch driving circuit mainly is made up of a field effect transistor, an aerotron, two diodes, four resistance, an electric capacity, aerotron links to each other with electronic control unit by a divider resistance, the field effect transistor mouth connects power-transfer clutch, and aerotron is connected with field effect transistor with a diode with two resistance by an electric capacity.
Wherein warning circuit is made up of an optical coupling isolator and two aerotrons, and circuit one end links to each other with electronic control unit by optical coupling isolator, and the other end connects alarm lamp by an aerotron.
Wherein fault diagnosis circuit is made up of flash chip and communication line, and communication line one end is connected with the electronic control unit communication and with flash chip, and the other end connects not under command light.
Actively progressive effect is: electric boosting steering system and semi-active suspension have influenced the athletic performance of pitching, yaw, inclination and the vertical direction of automobile, rely on the combination of electric boosting steering system and semi-active suspension, under the different speed of a motor vehicle and lateral acceleration situation, by co-operative control, can improve safety, road-holding property, the riding comfort of automobile well to steering effort and body gesture.
Description of drawings
Fig. 1 is the device block scheme of the utility model one embodiment.
Fig. 2 is the light-coupled isolation directional control circuit scheme drawing of the utility model one embodiment.
Fig. 3 is the H bridge motor-drive circuit scheme drawing of the utility model one embodiment.
Fig. 4 is the electric motor clutch control circuit scheme drawing of the utility model one embodiment.
Fig. 5 is the flow diagram of the utility model one embodiment.
The specific embodiment
Provide the utility model preferred embodiment below in conjunction with accompanying drawing, to describe the technical solution of the utility model in detail.
A kind of electric power steering and semi-active suspension integrated manipulator, as shown in Figure 1, it comprises:
A micro controller system 1 (Philips, P8 7LPC768), when receiving the ignition lock signal, micro controller system brings into operation, and accepts and calculates signal from each sensor processing unit, and send a signal to actuating mechanism circuit.This micro controller system running velocity is 2 times of standard 80C51 micro controller system, and simultaneously the existing characteristics P87LPC768 of MCS51 series also possesses, and has also inherited low-power consumption characteristic and can not the property decoded.Because this micro controller system has the PWM function, so the control motor is particularly convenient.
Torque sensor acquisition of signal and processing unit 2 are gathered and are handled the torque sensor signal and send micro controller system 1 then to;
Car speed sensor acquisition of signal and processing unit 3 are gathered and are handled the car speed sensor signal and send micro controller system 1 then to;
Hall current sensor acquisition of signal and processing unit 4 are gathered and are handled the Hall current sensor signal and send micro controller system 1 then to;
Vehicle body normal acceleration collecting sensor signal and processing unit 5 are gathered and are handled vehicle body normal acceleration sensor signal and send micro controller system 1 then to;
A system fault diagnosis circuit 6, when system breaks down, single-chip computer control system can send trouble unit to by corresponding failure message, trouble unit is with this information processing and storage, when checking this fault, single-chip computer control system can access the trouble unit canned data and the driving malfunction lamp occurs with specific flicker code form.
An alarm lamp driving circuit 7, this circuit mainly is made up of photoisolator and transistor circuit.When observation circuit detected the system signal abnormal failure, single-chip computer control system can transmit signal and give photoisolator, and then sends transistor amplifier to, drove alarm lamp and lighted.
A stepper motor driver 8, actuator are that the weak electric signal that single-chip computer control system provides is enlarged into the heavy current signal that stepping motor can be accepted.When control single chip computer is exported to the actuator stepping pulse signal, stepper motor driver is adjusted the anglec of rotation of stepping motor in real time according to the frequency of stepping pulse signal, in addition, by accepting the direction level signal of control single chip computer output, stepper motor driver can determine the hand of rotation of motor, high level is a clockwise direction, low level is an anticlockwise direction, so just can reach the purpose of electric machine speed regulation and location, thereby the damping of adjustable damping bumper in the change suspension system makes suspension always work in optimum state.
Wherein the light-coupled isolation directional control circuit as shown in Figure 2, this circuit is mainly formed U1, U2 by 4 with door and 2 joint denial gates, U3, U6 are and door, U4, U5 are joint denial gate, system's employing single-polarity PWM modulation system, D1, D2 are direction control signal.D1, D2 have 4 kinds of combinations.Motor just changeed in 11 o'clock, the counter-rotating of 00 o'clock motor, 01 and 10 o'clock motors stop.When D1, D2 were 11, with door U1, U2 output high level, wherein the signal of U2 was used to drive optocoupler T4, opens metal-oxide-semiconductor Q4.U3 drives optocoupler T1 according to the signal of pwm signal and U1, opens metal-oxide-semiconductor Q1, i.e. Q1, Q4 conducting.At this moment, joint denial gate U4, U5 and be output as low level with door U6, optocoupler T2, T3 end, and metal-oxide-semiconductor Q2, Q3 turn-off, and motor just changes.When D1, D2 were 00, situation was just in time opposite, and T1, T4 end, and Q1, Q2 turn-off, and T2, T3 open, Q2, Q3 conducting, motor counter-rotating.
Wherein H bridge motor-drive circuit as shown in Figure 3, this driving circuit mainly is made up of four MOSFET pipe.The break-make of optocoupler T1 control MOSFET pipe Q1, the break-make of optocoupler T2 control MOSFET pipe Q2, the break-make of optocoupler T3 control MOSFET pipe Q3, the break-make of optocoupler T4 control MOSFET pipe Q4.When optocoupler T1 and optocoupler T4 conducting, optocoupler T2 and optocoupler T3 turn-offed, cooresponding Q1, Q2 were with regard to conducting, and Q2, Q3 turn-off, and current of electric flows to ground through Q1, MOTOR, Q4, and motor just changes at this moment.During the motor counter-rotating, the break-make situation of device is just in time opposite.
Wherein the electric motor clutch control circuit as shown in Figure 4, shown in Fig. 4 .6, electric motor clutch control mainly is made up of field effect transistor Q1, aerotron T1, diode, resistance, electric capacity.Resistance plays the dividing potential drop effect, and electric capacity strobes, when P1 is high potential, and aerotron T1 conducting, field effect transistor Q1 conducting, thus make magnet coil energising, magnetic clutch adhesive.
The control flow block scheme of native system as shown in Figure 5, electronic control unit at first powers up initialization, detect each sensor, ECU circuit condition then, if system normally then change the sensor signal judge module over to, if system's mal then enter warning circuit and light alarm lamp.Next judge each sensor signal, and if normally the approach axis dish rotate to judge, if mal then enter fault diagnosis circuit.Then read current signal and judge whether electric current surpasses maxim, if surpass then change system supervisor over to, restart to detect, if electric current is normal, then begin to read the speed of a motor vehicle, moment of torsion, vehicle body normal acceleration, Hall current sensor signal, then determine power-assisted electric current and step-by-step impulse by the integrated control algorithm that reads in the electronic control unit, the direction pulse drives electric power steering motor and stepping motor work at last.
Claims (7)
1. electric power steering and semi-active suspension integrated manipulator, by an electronic control unit, torque sensor acquisition of signal and processing unit, car speed sensor acquisition of signal and processing unit, Hall current sensor acquisition of signal and processing unit, vehicle body normal acceleration collecting sensor signal and processing unit, a photoelectricity isolation control circuit, a H bridge driving circuit, a stepper motor driving circuit, a power-transfer clutch Drive and Control Circuit is formed, it is characterized in that, photoelectricity isolation control circuit one end connects electronic control unit, the other end connects H bridge driving circuit, and the other end direct connection DC machine of H bridge driving circuit.
2. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, the photoelectricity isolation control circuit comprises: four and door, two joint denial gates, wherein there are three directly to link to each other with three optical coupling isolators with door, have a joint denial gate to link to each other with an optical coupling isolator, employing single-polarity PWM modulation system is controlled the optical coupling isolator unlatching or is ended.
3. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, H bridge driving circuit constitutes H bridge driving circuit by the MOSFET pipe of four high-power N raceway grooves, drives the assist motor rotating by the MOSFET that controls four high-power N raceway grooves is effective.
4. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, stepper motor driving circuit adopts SH step motor drive electrical equipment, incoming signal adopts photoelectric isolating circuit to enter SH step motor drive electrical equipment, input end connects electronic control unit, and mouth connects stepping motor.
5. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, the power-transfer clutch driving circuit mainly is made up of a field effect transistor, an aerotron, two diodes, four resistance, an electric capacity, aerotron links to each other with electronic control unit by a divider resistance, the field effect transistor mouth connects power-transfer clutch, and aerotron is connected with field effect transistor with a diode with two resistance by an electric capacity.
6. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, warning circuit is made up of an optical coupling isolator and two aerotrons, circuit one end links to each other with electronic control unit by optical coupling isolator, and the other end connects alarm lamp by an aerotron.
7. electric power steering according to claim 1 and semi-active suspension integrated manipulator, it is characterized in that, fault diagnosis circuit is made up of flash chip and communication line, and communication line one end is connected with the electronic control unit communication and with flash chip, and the other end connects not under command light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200333471U CN201009887Y (en) | 2007-01-17 | 2007-01-17 | Electric boosting steering and semi-active suspensing integration controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200333471U CN201009887Y (en) | 2007-01-17 | 2007-01-17 | Electric boosting steering and semi-active suspensing integration controller |
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| CN201009887Y true CN201009887Y (en) | 2008-01-23 |
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| CNU2007200333471U Expired - Fee Related CN201009887Y (en) | 2007-01-17 | 2007-01-17 | Electric boosting steering and semi-active suspensing integration controller |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101332814B (en) * | 2008-07-24 | 2012-04-18 | 合肥工业大学 | Vehicle chassis integrated control system and method |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN107093968A (en) * | 2017-06-28 | 2017-08-25 | 安徽建筑大学城市建设学院 | A kind of multi-function motor driver and control method |
| CN108578891A (en) * | 2018-05-14 | 2018-09-28 | 郑州航空港区羽丰医疗科技有限公司 | A kind of hardware circuit of pain electric pulse therapeutic equipment |
| CN108909396A (en) * | 2018-06-29 | 2018-11-30 | 四川理工学院 | vehicle active suspension and electric power steering system integrated control device and working method |
| CN110382264A (en) * | 2017-03-24 | 2019-10-25 | 株式会社昭和 | Vehicle control device and vehicle |
| CN111497763A (en) * | 2020-05-09 | 2020-08-07 | 芜湖伯特利汽车安全系统股份有限公司 | Integrated controller for electric tail gate and parking braking system |
| CN111864717A (en) * | 2020-08-14 | 2020-10-30 | 精进电动科技股份有限公司 | An electromagnetic clutch circuit and automobile |
-
2007
- 2007-01-17 CN CNU2007200333471U patent/CN201009887Y/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101332814B (en) * | 2008-07-24 | 2012-04-18 | 合肥工业大学 | Vehicle chassis integrated control system and method |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN110382264B (en) * | 2017-03-24 | 2022-08-02 | 日立安斯泰莫株式会社 | Vehicle control device and vehicle |
| CN110382264A (en) * | 2017-03-24 | 2019-10-25 | 株式会社昭和 | Vehicle control device and vehicle |
| CN107093968A (en) * | 2017-06-28 | 2017-08-25 | 安徽建筑大学城市建设学院 | A kind of multi-function motor driver and control method |
| CN108578891A (en) * | 2018-05-14 | 2018-09-28 | 郑州航空港区羽丰医疗科技有限公司 | A kind of hardware circuit of pain electric pulse therapeutic equipment |
| CN108578891B (en) * | 2018-05-14 | 2023-02-28 | 汉中秦航精密机电有限公司 | Hardware circuit of pain electric pulse therapeutic apparatus |
| CN108909396A (en) * | 2018-06-29 | 2018-11-30 | 四川理工学院 | vehicle active suspension and electric power steering system integrated control device and working method |
| CN108909396B (en) * | 2018-06-29 | 2020-11-03 | 四川理工学院 | Vehicle active suspension and electric power steering system integrated control device and working method |
| CN111497763A (en) * | 2020-05-09 | 2020-08-07 | 芜湖伯特利汽车安全系统股份有限公司 | Integrated controller for electric tail gate and parking braking system |
| WO2022032763A1 (en) * | 2020-08-14 | 2022-02-17 | 精进电动科技股份有限公司 | Electromagnetic clutch circuit and automobile |
| CN111864717A (en) * | 2020-08-14 | 2020-10-30 | 精进电动科技股份有限公司 | An electromagnetic clutch circuit and automobile |
| CN111864717B (en) * | 2020-08-14 | 2025-07-15 | 精进电动科技股份有限公司 | Electromagnetic clutch circuit and automobile |
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| C14 | Grant of patent or utility model | ||
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| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: No. 201, Lu an Lu, Jiading District, Shanghai, China: 201804 Patentee after: Chen Dayu Address before: Zhenjiang province university Jingkou District No. 301 Jiangsu Road, Jiangsu University, P.O. Box 212, postal code: 212013 Patentee before: Chen Dayu |
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| C56 | Change in the name or address of the patentee |
Owner name: CHEN DAYU Free format text: NEW ADDRESS: NO. 201, ANYAN ROAD, JIADING DISTRICT, SHANGHAI CITY, ZIP CODE:201804 |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080123 Termination date: 20110117 |