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WO2010015565A1 - Unité d’actionneur pour le mécanisme de direction à commande électrique d’un véhicule automobile - Google Patents

Unité d’actionneur pour le mécanisme de direction à commande électrique d’un véhicule automobile Download PDF

Info

Publication number
WO2010015565A1
WO2010015565A1 PCT/EP2009/059884 EP2009059884W WO2010015565A1 WO 2010015565 A1 WO2010015565 A1 WO 2010015565A1 EP 2009059884 W EP2009059884 W EP 2009059884W WO 2010015565 A1 WO2010015565 A1 WO 2010015565A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
steering
shaft
steering spindle
unit according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/059884
Other languages
German (de)
English (en)
Inventor
Jörg Hauhoff
Dorin Iles-Klumpner
Matthias Bembenek
Ismael Altindis
Christian Schirp
Klaus Hirschfeld
Thorsten Hoog
Olaf Beuermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MEZ FRINTROP AG
Ebm Papst St Georgen GmbH and Co KG
Leopold Kostal GmbH and Co KG
Willi Elbe Gelenkwellen GmbH and Co KG
Original Assignee
MEZ FRINTROP AG
Ebm Papst St Georgen GmbH and Co KG
Leopold Kostal GmbH and Co KG
Willi Elbe Gelenkwellen GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MEZ FRINTROP AG, Ebm Papst St Georgen GmbH and Co KG, Leopold Kostal GmbH and Co KG, Willi Elbe Gelenkwellen GmbH and Co KG filed Critical MEZ FRINTROP AG
Publication of WO2010015565A1 publication Critical patent/WO2010015565A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated

Definitions

  • the invention relates to an actuator unit for a motor vehicle steer-by-wire steering device, comprising a arranged in a jacket tube relative to this about its longitudinal axis rotatably mounted steering spindle, one end of which is designed for torque-locking connection of a steering wheel, and an actuator with a driven by the actuator actuator shaft, one end of which is torque-locking connected to the steering shaft.
  • the conventional mechanical coupling principle between the steering wheel and steered wheels must be left.
  • Steer-by-wire steering systems have been designed for this purpose.
  • the current angular position of the steering wheel is detected by means of a steering angle sensor, fed to an evaluation of which in turn one actuator or more actuators are controlled to drive the steered wheels corresponding to the detected rotation angle to the steered wheels in the steering angle corresponding position bring.
  • a steer-by-wire steering device It has been found in the use of a steer-by-wire system that it is necessary for driving a motor vehicle for the driver, a haptic feedback regarding the operation of the steering and others Obtained by the steered wheels in the steering shaft coupled torques.
  • the steering feel is provided in such a steer-by-wire steering device by a torque-locking connected to the steering shaft with its actuator shaft actuator.
  • the actuators are electric motors which are controlled by an appropriate control and apply the corresponding torque of the respective vehicle situation to the actuator shaft and thus to the steering spindle connected thereto.
  • the actuator can also be addressed as a driving feeling generator and the actuator unit, comprising the steering spindle and the actuator as a haptic turntable.
  • Motor vehicle steer-by-wire steering devices must be designed to be redundant in order to meet the safety requirements. For this reason, such systems are relatively expensive.
  • An alternative to forming a steer-by-wire steering device that satisfies the safety requirements imposed on such a device, but is less expensive to design and manufacture, is to provide the steer-by-wire steering device with a mechanical instead of the necessary system redundancy Provide fallback protection.
  • the steering shaft is mechanically coupled to the steered wheels so that in such a case, the vehicle can be steered mechanically.
  • hydraulic waves can also be used in such an application as proposed in DE 10 2004 026 067 A1 or analogously to EP 0 738 646 B1. Therefore, in such a design, greater freedom in the design and arrangement of the suspension of the steered wheels and the other components in the engine compartment than in conventional borrowed mechanical steering devices.
  • Such actuator units require a certain installation space in the vehicle, in particular in the longitudinal axial direction.
  • a complicated control programming is necessary.
  • the effort in programming the actuator drive is also due to the necessity of providing the elastic coupling element between the steering shaft and the actuator shaft.
  • the damping properties of the coupling member to be considered in this regard, these changing depending on the ambient temperature.
  • the invention is therefore based on the object to propose an actuator unit for a motor vehicle Steer-by-wire steering device, which is basically simpler in construction and thereby avoids the disadvantages pointed out to the pre-discussed prior art.
  • an input, generic actuator unit wherein the steering shaft is rigidly connected to the mounted in two bearings actuator shaft, wherein one of the two bearings is arranged in the region of the connection of the actuator shaft to the steering shaft and the steering shaft due to their rigid connection - Ses is mounted on the actuator shaft actuator side via the actuator shaft.
  • the steering spindle is then mounted on a bearing in the region of its end on the steering wheel side and with its other end on the bearing of the actuator shaft facing the steering spindle by the connection with the actuator shaft.
  • Such an actuator unit therefore requires only three bearings.
  • the actuator shaft must have a precise, defined bearing, in particular when an electronically commutated and thus brushless DC motor is used as the actuator.
  • the very accurate storage of the actuator shaft is due to the preferably very small sized air gap between the rotor and the stator. It is preferably provided that the steering shaft side bearing of the actuator shaft is designed with respect to axial movements as a fixed bearing and the other bearing of the actuator shaft as a floating bearing.
  • the above-described bearing conception of the actuator unit or its actuator shaft furthermore has the consequence that the steering spindle is connected to the actuator shaft without transverse force. Correspondingly simpler the steering shaft side bearing of the actuator shaft may be formed.
  • Such a connection of the steering shaft to the actuator shaft has the further advantage that the air gap located between the rotor windings and the stator windings can be provided extremely small. This is preferably less than 0.5 mm, in particular less than 0.3 mm or even less than 0.25 mm, wherein the air gap is defined by the distance of the outer circumferential surface of the rotor from the inner circumferential surface of the stator.
  • the actuator shaft side bearing of the steering shaft by taking advantage of The spindle-side bearing of the actuator shaft also makes it possible to provide the connection of the guide or casing tube of the steering spindle to a housing carrying or supporting the actuator, wherein a centering can readily take place by means of a centering flange. Due to the large distance of the connected to the actuator shaft end of the steering shaft from its upper, steering wheel side bearing centering of the actuator shaft and steering shaft can be done stress-free.
  • the steering shaft and thus the casing tube can be made in two parts, which two steering spindle parts are adjustable telescopically in the axial direction by a certain amount of movement to adjust the desired length of the steering shaft.
  • the connection of the lower steering shaft portion is made to the actuator shaft such that upon withdrawal of the upper steering shaft portion of the lower steering shaft portion, the connection of the lower steering shaft portion is not solved to the actuator shaft.
  • the actuator When providing an electronically commutated DC motor, it is provided according to a preferred embodiment to arrange the actuator in an actuator housing, in such a self-supporting, so that the actuator unit with one or more attachment points on the actuator housing on the chassis or a frame of the vehicle can be connected.
  • an actuator unit will be connected to the vehicle via a two-point bearing arrangement, one connecting point being provided in the region of the end of the motor housing remote from the steering wheel and the other connecting point being provided in the region of the steering wheel end of the jacket tube of the steering spindle.
  • the actuator shaft can be designed to engage the actuator at both ends, so that the end opposite the connection to the steering spindle protrudes from the actuator housing. This connection end of the actuator shaft can be used to connect a fallback mechanism or other sensors.
  • FIG. 1 shows a schematic illustration of an actuator unit 1 for a motor vehicle steer-by-wire steering device.
  • the actuator unit 1 comprises an electronically commutated DC motor 2 as an actuator.
  • the rotor with the excitation magnets 3 of the motor 2 is seated torque-tight on an actuator shaft 4.
  • the stator windings 5 are located in the illustrated embodiment on the inside of an actuator housing 6.
  • the actuator housing 6 is designed to support and also serves to hold the Both bearings 7, 8 of the actuator shaft 4. Due to the supporting design of the actuator housing 6, the actuator unit 1 can be secured on the vehicle side via a connection point 9 assigned to the actuator housing 6.
  • the actuator shaft 4 has at its one end a trained as a hollow shaft coupling portion 10.
  • the actuator shaft 4 is supported by the bearing 8 on the outer circumferential surface of the Kupplungsab- section 10.
  • the bearing 8 is designed with respect to axial movements of the actuator shaft 4 as a fixed bearing, while the bearing 7 is designed in this respect as a floating bearing.
  • the actuator shaft 4 protrudes from the actuator housing 6 with its end opposite the coupling section 10.
  • the section of the actuator shaft 4 protruding from the actuator housing 6 is enclosed by a collar 11.
  • the related free end of the actuator shaft 4 carries a variety of teeth 12 for connecting other units.
  • a rotor position sensor 13 Arranged within the actuator housing 6 is furthermore a rotor position sensor 13, which is connected to a control electronics 14.
  • the actuator unit 1 furthermore has a steering spindle 15, which is made in two parts in the illustrated exemplary embodiment.
  • the upper steering spindle part 16 is rotatably mounted in an upper jacket tube 17 about its longitudinal axis. From the jacket tube 17, the upper steering spindle part protrudes with a connection portion 18. This is used to connect a steering wheel, not shown in detail in the figure to the steering shaft 15. In the region of the steering wheel end of the steering shaft part 16, the steering shaft 15 is mounted relative to the casing tube 17 by a bearing 19.
  • the upper steering spindle part 16 is a lower steering spindle part 20th with the interposition of a sliding member 21 torque-locking, but in the axial direction against each other movable into engagement.
  • the upper jacket tube 17 is adjustable relative to a lower jacket tube 22 in the axial direction. Due to this connection between the upper steering spindle part 16 and the lower steering spindle part 20 and the upper casing tube 17 and lower casing tube 22, the upper steering spindle part 16 can be adjusted telescopically with respect to the lower steering spindle part 20. This serves for the individual setting up of the length of the steering spindle 15.
  • An upper connection point 24 for the actuator unit 1 is located on the outside of the upper jacket tube 17 with the interposition of a sliding element 23 provided for a crash case.
  • the steering shaft 15 is torque-locked with its lower end portion 25 into the coupling portion 10 of the actuator shaft 4, which is otherwise not shown in any more detail, and fixed within the coupling portion 10 by means of an interference fit.
  • the steering shaft 15 and the lower steering shaft portion 20 is torque-locking and connected in the axial direction conclusive with the actuator shaft 4.
  • associated mounting plate 26 is a projecting from the mounting plate 26 Zentrierflansch 27. This engages in the mounting plate 26 toward the lower lower jacket tube 22.
  • the jacket tube 22 carries a circumferential, projecting outward Flange 28, in the holes at intervals for performing Befest Trentsschrau- ben for connecting the steering shaft 15, the actuator 2 are introduced.
  • the steer-by-wire steering device is not shown in greater detail with respect to the other necessary units and components.
  • the steering spindle 15 for example, not shown in Figure 1 Wheelwinkelsen- sensors associated with which the introduced via the steering wheel in the steering shaft rotation angle is detected. Other sensors, such as torque sensors may also be present.
  • the synchronous motor 2 is actuated via the control electronics
  • the description of the actuator unit which has been described as such for a motor vehicle steer-by-wire steering device, makes it clear that when the actuator shaft is mechanically connected to the wheels to be steered with the interposition of a steering gear, the actuator can also be used as a steering force supporting actuator, so that even for such an application, the advantages described for the actuator unit can come to fruition.
  • Actuator unit Synchronous motor Rotor Actuator shaft Stator winding Actuator housing Bearing Bearing Connection point Coupling section Collar Multi-toothing Rotor position sensor Drive electronics Steering spindle Steering spindle part, upper jacket tube Connecting section Bearing Steering spindle part, lower sliding element Jacket tube Sliding element Connection point End section Mounting plate Centering flange Flange

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

La présente invention concerne une unité d'actionneur (1) pour le mécanisme de direction à commande électrique d'un véhicule automobile. Cette unité comporte un arbre de direction (15) disposé dans un tube de protection (17, 22), logé de manière à pouvoir tourner autour de son axe longitudinal par rapport à ce tube de protection et dont une extrémité est réalisée pour permettre le raccordement d'un volant avec le même couple de rotation, ainsi qu'un actionneur (2) comprenant un arbre d'actionneur (4) entraîné par l'actionneur (2) et dont une extrémité est raccordée à l'arbre de direction (15) avec le même couple de rotation. L'arbre de direction (15) est rattaché de manière rigide à l'arbre d'actionneur (4) logé dans deux paliers (7, 8), l'un des deux paliers (8) étant disposé au niveau du raccord de l'arbre d'actionneur (4) à l'arbre de direction (15) et l'arbre de direction (15) étant logé côté actionneur, du fait de son raccordement rigide à l'arbre d'actionneur (4), par le biais de l'arbre d'actionneur (4).
PCT/EP2009/059884 2008-08-07 2009-07-30 Unité d’actionneur pour le mécanisme de direction à commande électrique d’un véhicule automobile Ceased WO2010015565A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008036730.3A DE102008036730B4 (de) 2008-08-07 2008-08-07 Aktuatoreinheit für eine Kraftfahrzeug-Steer-by-Wire-Lenkeinrichtung
DE102008036730.3 2008-08-07

Publications (1)

Publication Number Publication Date
WO2010015565A1 true WO2010015565A1 (fr) 2010-02-11

Family

ID=41226883

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/059884 Ceased WO2010015565A1 (fr) 2008-08-07 2009-07-30 Unité d’actionneur pour le mécanisme de direction à commande électrique d’un véhicule automobile

Country Status (2)

Country Link
DE (1) DE102008036730B4 (fr)
WO (1) WO2010015565A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010112512A1 (fr) * 2009-04-01 2010-10-07 Leopold Kostal Gmbh & Co. Kg Colonne de direction pour véhicules à moteur
FR3086254A1 (fr) * 2018-09-26 2020-03-27 Psa Automobiles Sa Equipement de commande de direction pour vehicule automobile
US11192575B2 (en) 2018-01-24 2021-12-07 Thyssenkrupp Presta Ag Steering column for a motor vehicle

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DE102010027356B4 (de) * 2010-07-16 2017-05-04 Audi Ag Verfahren zum Ermitteln eines Lenkmoments und Kraftfahrzeug
DE102010035754B4 (de) * 2010-08-28 2024-06-20 Kostal Automobil Elektrik Gmbh & Co. Kg Lenkmomentsensor für ein Kraftfahrzeug
DE102011116264A1 (de) 2011-10-19 2013-04-25 Rheinmetall Landsysteme Gmbh In einem Kraftfahrzeug anordbare Vorrichtung mit mindestens einem Aktuator für eine Kraftfahrzeug-Steer-by-Wire-Lenkeinrichtung
JP2016159895A (ja) * 2015-03-05 2016-09-05 株式会社ショーワ 反力アクチュエータ及び操舵装置
DE102015213303A1 (de) 2015-07-15 2017-01-19 Thyssenkrupp Ag Feedback-Aktuator für eine Lenkeinrichtung
DE102017214530A1 (de) * 2017-08-21 2019-02-21 Robert Bosch Gmbh Steer-by-wire-Lenksystem für ein Kraftfahrzeug
DE102017008650A1 (de) 2017-09-14 2018-06-07 Daimler Ag Steer-by-wire Lenkvorrichtung mit erhöhter Betriebssicherheit
DE102017008672A1 (de) 2017-09-14 2018-06-07 Daimler Ag Dynamischer Anschlag für ein Steer-by-wire Lenksystem
DE102018209236A1 (de) * 2018-06-11 2019-12-12 Thyssenkrupp Ag Lenksäule mit Feedback-Aktuator
DE102018131185B4 (de) 2018-08-30 2020-09-24 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung mit Lenkwiderstandssystem
DE102018131204B3 (de) 2018-08-30 2020-01-02 Schaeffler Technologies AG & Co. KG Reibvorrichtung für einen Feedback-Aktuator einer Lenkeinrichtung
DE102018130101A1 (de) * 2018-08-30 2020-04-02 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung mit Direktantrieb
WO2020043234A1 (fr) 2018-08-30 2020-03-05 Schaeffler Technologies AG & Co. KG Actionneur à rétroaction pour un dispositif de direction à entraînement direct
DE102019101811A1 (de) 2019-01-25 2020-07-30 Schaeffler Technologies AG & Co. KG System und Verfahren zum sicheren Betrieb eines Feedback-Aktuators
DE102019103712B3 (de) * 2019-02-14 2020-03-05 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung mit Lenkwiderstandssystem
DE102019111993A1 (de) 2019-05-08 2020-01-02 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung
DE102019121390A1 (de) * 2019-05-27 2020-12-03 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung
DE102019118479A1 (de) * 2019-07-09 2021-01-14 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung eines Fahrzeugs
DE102019123514A1 (de) * 2019-09-03 2021-03-04 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung
DE102019128911A1 (de) * 2019-10-25 2021-04-29 Thyssenkrupp Ag Steer-by-Wire-Lenksystem mit Feedback-Aktuator aufweisend eine magnetische Getriebekupplung
DE102019132760A1 (de) 2019-12-03 2021-06-10 Schaeffler Technologies AG & Co. KG Energieeffizientes Rückstellsystem für eine Lenksachse eines Steer-by-wire-Lenksystems
DE102020129742A1 (de) 2020-11-11 2022-05-12 Schaeffler Technologies AG & Co. KG Feedback-Aktuator für eine Lenkeinrichtung
DE102021205474A1 (de) 2021-05-28 2022-12-01 Volkswagen Aktiengesellschaft Verfahren zum Betrieb eines Lenksystems
DE102022110326A1 (de) 2022-04-28 2023-11-02 Schaeffler Technologies AG & Co. KG Bedieneinheit zur Beeinflussung einer Fahrrichtung eines Kraftfahrzeugs durch einen Benutzer
DE102023100870B4 (de) 2023-01-16 2024-08-08 Schaeffler Technologies AG & Co. KG Lenksystem für ein Kraftfahrzeug
DE102023105802A1 (de) 2023-03-09 2024-09-12 Schaeffler Technologies AG & Co. KG Lenkvorrichtung und Verfahren zur Herstellung eines Stators
DE102023105982A1 (de) 2023-03-10 2024-09-12 Schaeffler Technologies AG & Co. KG Lenkvorrichtung
DE102023108159B4 (de) 2023-03-30 2025-08-07 Schaeffler Technologies AG & Co. KG Lenkvorrichtung
DE102023113234A1 (de) 2023-05-22 2024-11-28 Schaeffler Technologies AG & Co. KG Bedieneinheit, Verfahren zur Funktionsüberprüfung einer magnetrheologischen Bremse, Computerprogrammprodukt und Steer-by-Wire-System
DE102023113235A1 (de) 2023-05-22 2024-11-28 Schaeffler Technologies AG & Co. KG Bedieneinheit, Verfahren zur Funktionsüberprüfung einer magnetrheologischen Bremse, Computerprogrammprodukt und Steer-by-Wire-System
DE102023119231B4 (de) 2023-07-20 2025-02-20 Schaeffler Technologies AG & Co. KG Bedieneinheit und Steer-by-Wire-System
DE102023119175A1 (de) 2023-07-20 2025-01-23 Schaeffler Technologies AG & Co. KG Bedieneinheit und Steer-by-Wire-Lenksystem
DE102023122200A1 (de) 2023-08-18 2025-02-20 Schaeffler Technologies AG & Co. KG Lenkungsaktuator
DE102024100087A1 (de) * 2024-01-03 2025-07-03 Schaeffler Technologies AG & Co. KG Verfahren zur Herstellung einer Lenkvorrichtung, Lenkvorrichtung und Steer-by-Wire-Lenksystem

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DE3530001A1 (de) * 1985-08-22 1987-03-05 Opel Adam Ag Lenkhilfe fuer kraftfahrzeuge
US5417614A (en) * 1994-03-14 1995-05-23 General Motors Corporation Variable length shaft assembly
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DE102006061949A1 (de) * 2006-12-29 2008-07-03 Robert Bosch Gmbh Lenksystem in einem Fahrzeug mit einem elektrischen Servomotor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010112512A1 (fr) * 2009-04-01 2010-10-07 Leopold Kostal Gmbh & Co. Kg Colonne de direction pour véhicules à moteur
US11192575B2 (en) 2018-01-24 2021-12-07 Thyssenkrupp Presta Ag Steering column for a motor vehicle
FR3086254A1 (fr) * 2018-09-26 2020-03-27 Psa Automobiles Sa Equipement de commande de direction pour vehicule automobile
WO2020065159A1 (fr) * 2018-09-26 2020-04-02 Psa Automobiles Sa Équipement de commande de direction pour vehicule automobile

Also Published As

Publication number Publication date
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DE102008036730A1 (de) 2010-02-11

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