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WO2000043251A1 - Dispositif redondant pour la generation de moments de rotation - Google Patents

Dispositif redondant pour la generation de moments de rotation Download PDF

Info

Publication number
WO2000043251A1
WO2000043251A1 PCT/EP2000/000311 EP0000311W WO0043251A1 WO 2000043251 A1 WO2000043251 A1 WO 2000043251A1 EP 0000311 W EP0000311 W EP 0000311W WO 0043251 A1 WO0043251 A1 WO 0043251A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque
shaft
electric motor
steering
handling device
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/EP2000/000311
Other languages
German (de)
English (en)
Inventor
Nicole Steinmeier
Martin Vohmann
Gerd Speidel
Michael Bidner
Franz Kirchner
Jochen Hermann
Albrecht Pluschke
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.)
ThyssenKrupp Presta Muelheim GmbH
Original Assignee
Mercedes Benz Lenkungen GmbH
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 Mercedes Benz Lenkungen GmbH filed Critical Mercedes Benz Lenkungen GmbH
Priority to EP00909075A priority Critical patent/EP1062143A1/fr
Priority to JP2000594687A priority patent/JP2002535192A/ja
Publication of WO2000043251A1 publication Critical patent/WO2000043251A1/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 present invention relates to a device for generating a torque on a shaft with the features of claim 1 and a method for operating a device for generating a torque on a shaft.
  • Such a device is known for example from EP 0854075 A2.
  • a steering column is shown there, which is not mechanically coupled to the steering gear of a motor vehicle.
  • the steering column with the steering wheel attached to it fulfills the function of a target angle transmitter, via which the desired steering angle of the steered wheels of the motor vehicle is set.
  • the steering gear is driven in accordance with the set target angle, so that the motor vehicle initiates cornering.
  • For a Safe driving requires that the driver perceive steering reaction forces via the steering wheel.
  • These steering reaction forces which represent a measure of the direction and the amount of the wheel angle, are introduced into the steering column via an electric motor, which is referred to as a so-called manual actuator.
  • EP0854075 A2 provides that a torsion spring applies a certain amount of manual force purely mechanically, the steering being force-free in its central position.
  • a second electric motor acts to generate the torque on the same shaft, the first electric motor and the second electric motor each producing one part of the torque, the failure of one of the two electric motors can be immediately compensated for by comparing the torque setpoint with the actual torque value be so that at ideal design a change in the simulated steering reaction forces is not noticeable.
  • Another advantage of the device is that both electric motors only have to provide part of the power required, so that they can each be designed to be smaller than when the torque is generated by a single electric motor. This results in special cost advantages if the first and second electric motors are identical in these things and each generate approximately the same torques during operation. A particularly advantageous application results when the handling device is a steering wheel of a motor vehicle. However, the advantages according to the invention also result for other actuating devices that are not mechanically positively coupled.
  • the electric motors are dimensioned such that the maximum required torque cannot be generated individually in normal operation or continuous operation, i.e. they would be individually undersized for the respective task, there may be particular advantages with regard to the costs of the electric motors and their control, however result in terms of heat development, the space required and the weight.
  • a particularly simple construction results if the shaft is designed as a common motor shaft of the first and the second electric motor.
  • the electric motors can act on the shaft via a gear, in particular via a spur gear, a worm gear or a planetary gear. In the latter gear, the motors can also concentrically surround the shaft despite the gear reduction.
  • the other electric motor completely applies the required torque if one electric motor fails.
  • the change in the control state can take place so quickly that the user does not notice this or at least does not find it disturbing.
  • the other electric motor can be operated briefly in overload, so that the torque then does not drop or only drops briefly.
  • the overload operation of this electric motor is only maintained for a short time and is continuously transferred to normal operation, which can be easily coped with over the long term.
  • this effect would be felt by a gradual drop in steering reaction forces to 50% of normal. If this transition takes place gradually, for example within a few seconds or minutes, this transition is not disturbing and, in particular, is not dangerous with regard to the control of the motor vehicle.
  • a particularly favorable application of the device or the method results if the torque is opposed to a torque that is manually introduced onto the shaft via the handling device and is used in particular in steering systems without mechanical forced coupling between the handling device and the steered wheels to simulate steering forces or steering reaction forces.
  • the size of the torque applied to the handling device can be reliably determined via the current consumption of at least one electric motor.
  • Figure 1 an inventive device for generating steering reaction forces with a concentric arrangement of two electric motors around the shaft; such as
  • Figure 2 another embodiment in which two electric motors act on the shaft via a worm gear arranged laterally next to the shaft.
  • the shaft 2 carries a steering angle sensor, not shown here, for the determination of the target angle and, if necessary, a mechanical torsion spring for mechanically returning the steering wheel 1 to the central position.
  • the shaft 2 is provided with a first electric motor 3 and a second electric motor 4.
  • the electric motors 3 and 4 are coupled to the shaft 2 via a spur gear.
  • FIG. 2 shows another embodiment of the present invention in a plan view in the axial direction of the shaft 2.
  • the shaft 2 here carries a non-rotatable worm wheel 5, which is positively coupled to a motor shaft 7 via a pinion 6.
  • the motor shaft 7 is a common motor shaft of a first electric motor 13 and a second electric motor 14.
  • the device according to FIG. 1 is used in practice in order to impart a restoring force to the steering wheel 1 in the case of non-mechanically positively coupled steering systems.
  • the two electric motors 3 and 4 are supplied with current so that they impress the shaft 2 with a torque directed into the central position of the steering.
  • the strength of the torque can depend on the deviation of the steering angle from the central position and on various driving conditions. In any case, it should convey to the driver of the motor vehicle the steering reaction forces familiar from conventional mechanical steering.
  • the electric motors 3 and 4 can also generate a torque that is directed in the direction of rotation pointing away from the central position. An excessive mechanical restoring torque is then partially compensated for, so that the steering becomes subjectively smoother.
  • the two electric motors 3 and 4 or 13 and 14 are operated simultaneously, they each generate about 50% of the required torque, which in turn must at most correspond to the upper limit of the manual force of a conventional power steering.
  • the electric motors 3 and 4 or 13 and 14 are designed for this maximum desired torque with regard to their continuous output.
  • one of the two motors 3, 4, -13, 14 fails, this is immediately detected by sensors shown in more detail.
  • the torque generated by the two motors can be monitored, which suddenly drops to half if one motor fails, or the electrical current consumption of both motors can be monitored, the failure of one motor being recognized by the loss of its electrical power consumption.
  • the remaining electric motor 3, 4; 13, 14 impressed a higher drive power and thus a higher torque.
  • the failure of one of the motors is thus compensated for within a very short time, so that the user does not notice this as a nuisance.
  • the steering is prevented from tearing due to the sudden loss of the restoring torque.
  • the remaining electric motor is brought into an operating state which, due to its - o -
  • the restoring torque can then be brought to half the setpoint and thus to the value for which a single motor is designed over a certain time of a few seconds or minutes. This is noticeable as a gradually increasing smoothness of the steering, without appearing surprising or dangerous.
  • the devices described so far can thus be used to simulate the steering reaction forces desired on a steering wheel of a motor vehicle, the relatively small size of the required electric motors saving space, weight and costs.
  • an electrical fallback level is secured, which prevents dangerous driving conditions from occurring.
  • a mechanical second fallback level can also be provided.
  • the simulation of the steering reaction forces on the control side can use particularly comfort- or safety-oriented maps, the steering reaction forces on the steering wheel not having to have a necessary connection with those on the steered axle.
  • a further possibility for the simulation of conventional steering gears is made possible if the gearbox between the shaft and the electric motors generates a rotation angle limitation against manual turning of the shaft by stopping the electric motors.
  • the shaft which can be rotated as often as desired, can then, starting from the central position, which corresponds to driving straight ahead, after 1 to 2.5 revolutions against further rotation be blocked, giving the driver the impression of a mechanical stop.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un dispositif servant à générer un moment de rotation sur un arbre (2) à actionner manuellement par l'intermédiaire d'un dispositif de manipulation (1), qui comporte un premier moteur électrique (3, 13) agissant directement ou indirectement sur l'arbre (2) et un deuxième moteur électrique (4, 14) agissant sur le même arbre (2) pour générer le moment de rotation. Le dispositif selon l'invention est caractérisé en ce que le premier moteur électrique (3, 13) et le deuxième moteur électrique (4, 14) génèrent chacun proportionnellement une partie du moment de rotation et en ce que le moment de rotation a une action inverse de celle d'un moment de rotation transmis manuellement à l'arbre (2) par l'intermédiaire du dispositif de manipulation (1) et sert, en particulier, pour la simulation de forces de braquage ou de forces de contre-braquage dans des systèmes de direction sans accouplement mécanique forcé entre le dispositif de manipulation (1) et les roues dirigées.
PCT/EP2000/000311 1999-01-22 2000-01-17 Dispositif redondant pour la generation de moments de rotation Ceased WO2000043251A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP00909075A EP1062143A1 (fr) 1999-01-22 2000-01-17 Dispositif redondant pour la generation de moments de rotation
JP2000594687A JP2002535192A (ja) 1999-01-22 2000-01-17 トルク発生装置及びその駆動方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1999102557 DE19902557A1 (de) 1999-01-22 1999-01-22 Redundante Vorrichtung zur Erzeugung von Drehmomenten
DE19902557.6 1999-01-22

Publications (1)

Publication Number Publication Date
WO2000043251A1 true WO2000043251A1 (fr) 2000-07-27

Family

ID=7895135

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/000311 Ceased WO2000043251A1 (fr) 1999-01-22 2000-01-17 Dispositif redondant pour la generation de moments de rotation

Country Status (4)

Country Link
EP (1) EP1062143A1 (fr)
JP (1) JP2002535192A (fr)
DE (1) DE19902557A1 (fr)
WO (1) WO2000043251A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002060741A1 (fr) * 2001-01-19 2002-08-08 Daimlerchrysler Ag Systeme de direction pour vehicules non guides
WO2003053763A1 (fr) * 2001-12-11 2003-07-03 Thyssenkrupp Presta Steertec Gmbh Systeme de direction dote d'un engrenage planetaire commande destine a produire un couple manuel determine sur le volant de direction
WO2003095289A1 (fr) * 2002-05-14 2003-11-20 Toyota Jidosha Kabushiki Kaisha Dispositif de commande de vehicule a moteur
WO2004018277A1 (fr) * 2002-08-07 2004-03-04 Thyssenkrupp Presta Steertec Gmbh Direction de vehicule automobile comprenant une direction a superposition
US9956101B2 (en) 2014-12-04 2018-05-01 Trivascular, Inc. Internal iliac preservation devices and methods
US11192575B2 (en) 2018-01-24 2021-12-07 Thyssenkrupp Presta Ag Steering column for a motor vehicle
US20240351631A1 (en) * 2021-10-14 2024-10-24 Robert Bosch Gmbh Steering Column for a Steer-by-Wire Steering System
US12491932B2 (en) * 2021-10-14 2025-12-09 Robert Bosch Gmbh Steering column for a steer-by-wire steering system

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10053714A1 (de) * 2000-10-28 2002-05-02 Zahnradfabrik Friedrichshafen Lenksystem
DE10103667A1 (de) * 2001-01-27 2002-08-01 Bosch Gmbh Robert Aktuator für eine Steer-by-Wire-Lenkanlage
DE10200826C1 (de) * 2002-01-11 2003-05-15 Autoliv Dev Lenkmodul für ein Steer-by-wire-Lenksystem in Kraftfahrzeugen
US7014008B2 (en) * 2002-06-27 2006-03-21 Honda Giken Kogyo Kabushiki Kaisha Steering system for vehicle
DE10329292A1 (de) * 2003-06-30 2005-01-20 Zf Lenksysteme Gmbh Vorrichtung zur Erzeugung eines Drehmoments
CN101370701B (zh) 2005-11-30 2010-11-03 斯文·埃根费尔德 远程控制系统
CN101700786B (zh) * 2009-11-09 2012-08-29 南京航空航天大学 具有变传动比功能的客车循环球式电动助力转向系统的控制方法
DE102013014122A1 (de) * 2013-08-23 2015-02-26 Audi Ag Lenkanschlag
DE102015117614B4 (de) * 2015-10-16 2024-06-27 Robert Bosch Gmbh Verfahren zum Betrieb einer permanenterregten Synchronmaschine, insbesondere eines Servomotors in einem Lenksystem
DE102017109081A1 (de) * 2017-04-27 2018-10-31 Paravan Gmbh Lenkmodul für ein Fahrzeug und Lenksystem
CN107444470A (zh) * 2017-07-31 2017-12-08 苏州润贤峰汽车部件有限公司 一种汽车机械式转向系统
DE102018201001A1 (de) * 2018-01-23 2019-07-25 Robert Bosch Gmbh Steer-by-Wire-Lenkvorrichtung
DE102019200908A1 (de) 2019-01-24 2020-07-30 Thyssenkrupp Ag Lenksäule für ein Steer-by-Wire-Lenksystem für ein Kraftfahrzeug
DE102019118476A1 (de) * 2019-07-09 2021-01-14 Schaeffler Technologies AG & Co. KG Handkraftaktuator mit einer Vielzahl von Widerstandsmotoren
DE112021002575T5 (de) * 2021-03-31 2023-04-06 Honda Motor Co., Ltd. Lenksystem für Fahrzeug
JP2024537727A (ja) * 2021-09-22 2024-10-16 ティッセンクルップ・プレスタ・アクチエンゲゼルシヤフト 重複システムの一方の欠陥後にアクチュエータモーターの増大した最大出力電力で自動車のステアリングシステムを制御する方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068584A (en) * 1988-11-29 1991-11-26 Regie Nationale Des Usines Renault Auxiliary device for handling failures of an actuating system of a linear electric actuator
EP0854075A2 (fr) * 1997-01-21 1998-07-22 Koyo Seiko Co., Ltd. Direction pour véhicule

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
DE3001561C2 (de) * 1980-01-17 1984-12-06 Adam Opel AG, 6090 Rüsselsheim Vorrichtung zur Vermeidung des Lenkradschwingens um die Geradeausstellung
DE19510717C2 (de) * 1995-03-24 1997-01-30 Jungheinrich Ag Elektrische Lenkvorrichtung für Flurförderzeuge

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068584A (en) * 1988-11-29 1991-11-26 Regie Nationale Des Usines Renault Auxiliary device for handling failures of an actuating system of a linear electric actuator
EP0854075A2 (fr) * 1997-01-21 1998-07-22 Koyo Seiko Co., Ltd. Direction pour véhicule

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002060741A1 (fr) * 2001-01-19 2002-08-08 Daimlerchrysler Ag Systeme de direction pour vehicules non guides
WO2003053763A1 (fr) * 2001-12-11 2003-07-03 Thyssenkrupp Presta Steertec Gmbh Systeme de direction dote d'un engrenage planetaire commande destine a produire un couple manuel determine sur le volant de direction
WO2003095289A1 (fr) * 2002-05-14 2003-11-20 Toyota Jidosha Kabushiki Kaisha Dispositif de commande de vehicule a moteur
US7178613B2 (en) 2002-05-14 2007-02-20 Toyota Jidosha Kabushiki Kaisha Vehicle operating apparatus
KR100709772B1 (ko) * 2002-05-14 2007-04-19 도요다 지도샤 가부시끼가이샤 차량 조작장치
CN100343107C (zh) * 2002-05-14 2007-10-17 丰田自动车株式会社 车辆操纵装置
WO2004018277A1 (fr) * 2002-08-07 2004-03-04 Thyssenkrupp Presta Steertec Gmbh Direction de vehicule automobile comprenant une direction a superposition
US9956101B2 (en) 2014-12-04 2018-05-01 Trivascular, Inc. Internal iliac preservation devices and methods
US11192575B2 (en) 2018-01-24 2021-12-07 Thyssenkrupp Presta Ag Steering column for a motor vehicle
US20240351631A1 (en) * 2021-10-14 2024-10-24 Robert Bosch Gmbh Steering Column for a Steer-by-Wire Steering System
US12491932B2 (en) * 2021-10-14 2025-12-09 Robert Bosch Gmbh Steering column for a steer-by-wire steering system

Also Published As

Publication number Publication date
JP2002535192A (ja) 2002-10-22
DE19902557A1 (de) 2000-07-27
EP1062143A1 (fr) 2000-12-27

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