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WO2020169662A1 - Système de direction à commande par câble électrique avec définition sur la base d'un capteur des forces s'exerçant au niveau des barres d'accouplement pour générer une rétroaction de route - Google Patents

Système de direction à commande par câble électrique avec définition sur la base d'un capteur des forces s'exerçant au niveau des barres d'accouplement pour générer une rétroaction de route Download PDF

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Publication number
WO2020169662A1
WO2020169662A1 PCT/EP2020/054348 EP2020054348W WO2020169662A1 WO 2020169662 A1 WO2020169662 A1 WO 2020169662A1 EP 2020054348 W EP2020054348 W EP 2020054348W WO 2020169662 A1 WO2020169662 A1 WO 2020169662A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
bearing
steering gear
steer
gear housing
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/EP2020/054348
Other languages
German (de)
English (en)
Inventor
András ILLÉS
Wolfram RAITHER
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 AG
ThyssenKrupp Presta AG
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Presta AG
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 ThyssenKrupp AG, ThyssenKrupp Presta AG filed Critical ThyssenKrupp AG
Publication of WO2020169662A1 publication Critical patent/WO2020169662A1/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
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0442—Conversion of rotational into longitudinal movement
    • B62D5/0445—Screw drives
    • B62D5/0448—Ball nuts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
    • F16C35/07—Fixing them on the shaft or housing with interposition of an element
    • F16C35/077—Fixing them on the shaft or housing with interposition of an element between housing and outer race ring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/18—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls
    • F16C19/181—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact
    • F16C19/183—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact with two rows at opposite angles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2326/00—Articles relating to transporting
    • F16C2326/20—Land vehicles
    • F16C2326/24—Steering systems, e.g. steering rods or columns

Definitions

  • the present invention relates to a steer-by-wire steering system for a motor vehicle with the features of the preamble of claim 1 and a method for determining tie rod forces for a steer-by-wire steering system of a motor vehicle with the features of the preamble of claim 14.
  • the position of the steered wheels is not directly coupled to the steering input means, for example a steering wheel.
  • the driver's steering request is picked up by a steering angle sensor, and depending on the driver's steering request, the position of the steered wheels is regulated via a steering actuator.
  • a mechanical connection to the wheels is not provided, so that no immediate force feedback is transmitted to the driver after the steering wheel is operated.
  • a correspondingly adapted feedback for example when parking or driving straight ahead, with a response adapted to the vehicle's reaction, is different depending on the vehicle manufacturer
  • Steering torque is desired as force feedback is provided.
  • reaction forces act as transverse forces on the steering gear, which the feedback actuator in the form of a counter to the steering direction imitates set moments.
  • the driver experiences a steering feel that can be predetermined.
  • FBA feedback actuator
  • the feedback properties of the steering are determined by the tie rod force that acts on the tie rods that are connected to the wheels via the chassis.
  • approaches for estimating the tie rod force on the basis of an electromechanical steering system state are generally unsuitable for steer-by-wire steering gears, as these can have high push-through forces or even self-locking.
  • a direct measurement of the force exerted by the wheel on the steering on the tie rods or on the setting device of the steering actuator by means of force sensors is associated with high costs.
  • This task is of a steer-by-wire steering system of a motor vehicle with the features of claim 1 and a method for
  • a steer-by-wire steering system for a motor vehicle comprising an electronically controllable steering actuator which acts on the steered wheels via tie rods and has a steering gear located in the load path of forces acting on the tie rods, the steering gear at least one Has bearing which supports the steering gear in a steering gear housing surrounding the steering gear, wherein at least one elastic element is arranged between the bearing and the steering gear housing, which the bearing in the direction of the load path in the Steering gear housing supported.
  • At least one sensor is provided which is set up to measure a change in the position of the bearing in the steering gear housing caused by a force exerted on the tie rods. Since the displacements of the bearing are typically small in
  • the at least one sensor is preferably an inductive displacement sensor.
  • the electronically controllable steering actuator has an electric motor and the steering gear has a mechanical one
  • Transmission stage causes an axial movement of a steering rod to which the tie rods are connected.
  • the at least one elastic element is preferably a corrugated spring, plate spring and / or plastic sleeve.
  • the bearing is preferably formed at least partially from ferromagnetic material.
  • the sensor is preferably designed to detect a change in the position of the bearing in the steering gear housing parallel to the axial movement of the
  • At least two sensors are arranged in order to measure a tilting of the bearing in the steering gear housing.
  • the steering gear has a ball screw drive with a ball nut and threaded rod and the bearing is a roller bearing that enables the ball nut to rotate in the steering gear housing, the at least one elastic element between the roller bearing outer ring and
  • Steering gear housing is arranged and the at least one sensor measures the distance between the sensor and the outer ring. It is advantageous if the at least one elastic element is an annular wave spring.
  • the roller bearing is preferably a ball bearing.
  • Handlebar is formed.
  • Preferably three sensors are included, which in the circumferential direction to
  • the axis of rotation of the ball nut are arranged at 90 ° apart.
  • the steer-by-Wi re steering system preferably has a feedback actuator, which can be acted upon by a driver with a driver's request for a steering angle via a steering input device and a feedback signal to the steering input device as a reaction to the driver's request and a driving status Motor vehicle issues.
  • the driving condition is determined by the
  • a method for determining tie rod forces for a steer-by-wire steering system comprising an electronically controllable steering actuator which acts on the steered wheels via tie rods and which has a steering gear that is in the load path of forces acting on the tie rods, wherein the steering gear has at least one bearing which supports the steering gear in a steering gear housing surrounding the steering gear, with at least one elastic element being arranged between the bearing and the steering gear housing, which the bearing in the direction of the load path in the steering gear housing supported, and wherein at least one sensor is provided for determining the tie rod forces, wherein the method comprises the following steps:
  • the method is particularly simple and allows the use of inexpensive sensors.
  • the steer-by-wire steering system preferably comprises a feedback actuator, which is controlled by a driver via a steering input device with a
  • the at least one sensor is an inductive displacement sensor and the bearing is at least partially off
  • the electronically controllable steering actuator preferably has an electric motor and the steering gear has a mechanical transmission stage, the electric motor causing an axial movement of a steering rod to which the tie rods are connected via the mechanical transmission stage.
  • At least two sensors are preferably included, which are set up to measure a change in the position of the bearing in the steering gear housing parallel to the axial movement of the steering rod and a tilting of the bearing.
  • the steering gear has a ball screw drive with a ball nut and threaded rod and the bearing is a ball bearing that enables the ball nut to rotate in the steering gear housing, the at least one elastic element between the ball bearing outer ring and
  • Steering gear housing is arranged and the at least one sensor measures the distance between the sensor and the outer ring.
  • the inner ring of the roller bearing is preferably formed by the ball nut and the threaded rod of the ball screw drive on the handlebar
  • the at least one elastic element an annular wave spring. It is also advantageous if three sensors are provided, which rotate in the circumferential direction to the axis of rotation of the ball nut by 90 ° are spaced apart.
  • Fig. 2 a longitudinal section through a ball screw of a steering actuator of the steer-by-wire steering system
  • FIG. 3 a detailed view of FIG. 2.
  • a steer-by-wire steering system 1 is shown in FIG.
  • a rotation angle sensor (not shown) is attached to a steering shaft 2 and detects the driver steering angle applied by rotating a steering input means 3, which in the example is designed as a steering wheel. However, a steering torque can also be recorded.
  • a joystick can serve as a steering input means.
  • a feedback actuator 4 is attached to the steering shaft 2, which is used to simulate the feedback from the roadway 60 on the steering wheel 3 and thus to give the driver feedback on the steering and driving behavior of the vehicle.
  • An electric steering actuator 5, which controls the position of the steered wheels 6, is activated as a function of the signal from the rotation angle sensor and other input variables.
  • the steering actuator 5 acts indirectly on the steered wheels 6 via a steering rod steering gear 7, as well as tie rods 8 and other components.
  • the steering rod steering gear has a ball screw 9.
  • the steering actuator 5 comprises an electric motor 10 which drives a ball nut 12 of the ball screw drive 9 via a belt drive 11.
  • a rotation of the ball nut 12 sets a threaded spindle of the ball screw drive 13, which is part of a handlebar 14, in an axial movement, which ultimately causes a steering movement for the motor vehicle.
  • FIG. 2 shows in detail the ball screw 9 with a steering gear housing 15 rotatably mounted ball nut 12.
  • ball bearings 16, 17 are provided at both ends of the ball nut in the direction of the axis of rotation 100.
  • the ball bearings 16, 17 have balls 18 as rolling elements, which are arranged between the inner and outer rings.
  • the ball nut 12 forms the respective inner ring 160, 170.
  • the two outer rings of the roller bearings 161, 171 are axially pretensioned in the steering housing 15 with annular corrugated springs 19 and are spring-loaded.
  • the corrugated springs 19 are each on the outwardly facing end face of the outer rings
  • Three sensors 20, 21, 22 are provided which measure the position of one of the two outer rings 161 of a ball bearing 16 in the steering gear housing 15. In the circumferential direction to the axis of rotation 100, the sensors are spaced apart by 90 °, i. H. two sensors are arranged on opposite sides and a third sensor is placed in between in the circumferential direction.
  • the sensors 20, 21, 22 are at the level of the outer ring 161, seen in the radial direction to the axis of rotation 100.
  • the sensors 20, 21, 22 are aligned at the end with the ball bearing 16 and are designed to measure the distance between the outer ring 161 and the respective sensor 20, 21 To measure 22 in an axis parallel to the axis of rotation 100.
  • the sensors 20, 21, 22 are preferably inductive displacement sensors.
  • the outer ring consists of a ferromagnetic material, so that the distance between the outer ring 161 and the sensor
  • the sensors 20,21,22 can be measured. Since the sensors 20,21,22 can be outside of the steering gear housing 15, this is preferably made of aluminum and does not affect the distance measurements. As shown in FIG. 3, the sensors 22 thus measure the position and tilt of the outer ring 161 along the axis of rotation 100, the position and the tilt being a measure for the tie rod force applied to the tie rod.
  • the change in the tie rod force AF is determined by measuring the relative displacement Ax and taking into account the force-displacement characteristic of the wave spring, with force components resulting from the engine torque and any further reaction forces being taken into account. Since the
  • Displacements of the outer ring Ax are typically small compared to the steering stroke, particularly inexpensive displacement sensors can be used.
  • tie rod forces below the push-through force can also be measured, so that the concept can also be applied to steering actuators with high system friction or self-locking.
  • This principle for determining the tie rod forces can be implemented in every mechanical transmission stage of a steer-by-wire steering gear, which is located in the load path of the tie rod forces, and one or more elastic elements (e.g. corrugated spring, disc spring, plastic sleeve, ... ), which are connected to the steering gear housing or another component.
  • the invention is therefore not based on the presence of

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

Abstract

L'invention concerne un système de direction à commande par câble électrique (1) pour un véhicule à moteur, comprenant un organe de réglage de direction (5) à régulation électronique agissant sur les roues (6) dirigées par l'intermédiaire de barres d'accouplement (8), qui comporte une boîte de direction (7) se trouvant sur le chemin de charge de forces agissant sur les barres d'accouplement (8). La boîte de direction (7) comporte au moins un palier (16, 17), qui supporte la boîte de direction (7) dans un carter (15) de boîte de direction entourant la boîte de direction. Au moins un élément élastique (19), qui soutient le palier (16, 17) en direction du chemin de charge dans le carter (15) de boîte de direction est disposé entre le palier (16, 17) et le carter (15) de boîte de direction. L'invention prévoit au moins un capteur (20, 21, 22), qui est mis au point pour mesurer une modification de la position du palier (16) dans le carter (15) de boîte de direction, laquelle est provoquée par une force exercée sur les barres d'accouplement (9).
PCT/EP2020/054348 2019-02-20 2020-02-19 Système de direction à commande par câble électrique avec définition sur la base d'un capteur des forces s'exerçant au niveau des barres d'accouplement pour générer une rétroaction de route Ceased WO2020169662A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019104326.3 2019-02-20
DE102019104326.3A DE102019104326A1 (de) 2019-02-20 2019-02-20 Steer-by-Wire Lenksystem mit sensorbasierter Bestimmung der Spurstangenkräfte zur Erzeugung einer Straßenrückmeldung

Publications (1)

Publication Number Publication Date
WO2020169662A1 true WO2020169662A1 (fr) 2020-08-27

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PCT/EP2020/054348 Ceased WO2020169662A1 (fr) 2019-02-20 2020-02-19 Système de direction à commande par câble électrique avec définition sur la base d'un capteur des forces s'exerçant au niveau des barres d'accouplement pour générer une rétroaction de route

Country Status (2)

Country Link
DE (1) DE102019104326A1 (fr)
WO (1) WO2020169662A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023038726A (ja) * 2021-09-07 2023-03-17 日立Astemo株式会社 操舵装置の制御装置

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020212854A1 (de) * 2020-10-12 2022-04-14 Volkswagen Aktiengesellschaft Elektromechanische Kraftfahrzeuglenkung
DE102022004638A1 (de) 2022-12-12 2024-06-13 Mercedes-Benz Group AG Lenkaktuator für eine Steer-by-Wire Lenkung eines Kraftfahrzeugs, Steer-by-Wire Lenkung sowie Kraftfahrzeug
DE102023103991A1 (de) 2023-02-17 2024-08-22 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betrieb eines Steer-By-Wire-Lenksystems
CN116198594B (zh) * 2023-02-20 2025-04-01 北京北方车辆新技术孵化器有限公司 一种提升方向盘稳定性的动力转向装置
DE102024100098B3 (de) * 2024-01-03 2025-02-20 Schaeffler Technologies AG & Co. KG Sensoreinheit für eine Lenkeinheit an einer Kugelgewindemutter
DE102024200415A1 (de) 2024-01-17 2025-07-17 Robert Bosch Gesellschaft mit beschränkter Haftung Elektrische Lenkung mit einem Sensor zur Ermittlung der Lenkstangenkraft
DE102024108093A1 (de) * 2024-03-21 2025-09-25 Schaeffler Technologies AG & Co. KG Lenkeinheit für Fahrzeug

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008022552A1 (de) * 2008-04-30 2009-11-05 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Lenksystem eines Kraftfahrzeugs
WO2017220717A1 (fr) * 2016-06-22 2017-12-28 Thyssenkrupp Presta Ag Vis à billes d'une direction assistée électromécanique, munie d'un roulement à billes à contact oblique et d'une compensation de diverses dilatations thermiques

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10017272A1 (de) * 2000-04-06 2001-10-11 Zahnradfabrik Friedrichshafen Lenksystem

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008022552A1 (de) * 2008-04-30 2009-11-05 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Lenksystem eines Kraftfahrzeugs
WO2017220717A1 (fr) * 2016-06-22 2017-12-28 Thyssenkrupp Presta Ag Vis à billes d'une direction assistée électromécanique, munie d'un roulement à billes à contact oblique et d'une compensation de diverses dilatations thermiques

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023038726A (ja) * 2021-09-07 2023-03-17 日立Astemo株式会社 操舵装置の制御装置
JP7637013B2 (ja) 2021-09-07 2025-02-27 日立Astemo株式会社 操舵装置の制御装置

Also Published As

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