WO2013079399A1 - Système de direction d'un véhicule - Google Patents

Système de direction d'un véhicule Download PDF

Info

Publication number
WO2013079399A1
WO2013079399A1 PCT/EP2012/073442 EP2012073442W WO2013079399A1 WO 2013079399 A1 WO2013079399 A1 WO 2013079399A1 EP 2012073442 W EP2012073442 W EP 2012073442W WO 2013079399 A1 WO2013079399 A1 WO 2013079399A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
sensor
steering shaft
steering system
circuit board
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/EP2012/073442
Other languages
German (de)
English (en)
Inventor
Achim Neubauer
Dirk WOLLMANN
Hussam Helmi
Thomas Kuehnhoefer
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2013079399A1 publication Critical patent/WO2013079399A1/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
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • 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
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
    • 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
    • B62D5/0409—Electric motor acting on the steering column
    • 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
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque

Definitions

  • the invention relates to a steering system in a vehicle according to the term of claim 1 O.
  • the driver can specify by operating the steering wheel, a steering angle, which is converted by coupling a steering shaft connected to the steering shaft with a rack in a Radlenkwinkel the steerable wheels. It is also known to use electric servomotors for power steering, which, if appropriate, act directly on the steering shaft and act upon it with a supporting servo torque (DE 197 03 903 A1).
  • the invention has the object to form a steering system in a vehicle with simple design measures with compact steering assistance.
  • the steering system is used in vehicles to implement a driver-specified steering angle in a wheel steering angle of the steerable wheels.
  • the steering system is associated with a steering shaft which is connected to the driver-operable steering wheel, and a steering linkage with a rack, which is actuated by the steering shaft to adjust the desired angle to the steerable wheels.
  • the steering system includes an electric servo motor, via which a supporting moment can be fed into the steering system.
  • the servomotor is advantageously coupled to the steering shaft.
  • the worm is in particular formed integrally with the motor shaft.
  • the steering shaft and the servomotor are accommodated in a common bearing housing, wherein the motor longitudinal axis of the servomotor preferably extends at least approximately orthogonal and with lateral offset to the axis of the steering shaft.
  • the servomotor is held, for example, on a bearing flange of the bearing housing.
  • servomotors can be used in or on the bearing housing with stators of different length, adapted to the respective application.
  • the electronics board is provided with a recess through which the steering shaft is passed.
  • the electronic board is arranged in the manner on the bearing housing, that in the mounted state, the plane of the electronic board is at least approximately perpendicular to the longitudinal axis of the steering shaft. This has the advantage that the steering system designed in this way is compact and has small dimensions both in the axial direction and in the radial direction-relative to the steering shaft longitudinal axis.
  • the integrated electronic circuit board in the bearing housing requires no or only a slightly larger space.
  • the bearing housing is provided for receiving the steering shaft with a recess into which the electronics board can be inserted or which can be covered by the electronic board.
  • the recess which is introduced in the electronic circuit board and through which the steering shaft is guided, can either be designed as a hole which is enclosed around the electronics board, or as a U-shaped recess, which extends to the edge of the electronic circuit board extends. Another advantage is the fact that due to the guided steering shaft through the recess in the electronics board a correct position centering of the board is given in the bearing housing. In the direction of rotation about the longitudinal axis of the steering shaft, the desired position of the electronic circuit board can be determined by stops or positive locking elements on the bearing housing. Overall, this assembly is simplified.
  • the electronic board has as electronic components expediently both a power electronics and a control electronics with the
  • Control logic on is also an embodiment in which only either the power electronics or the control electronics is located on the electronic board, which is provided with the recess for passing the steering shaft, whereas the other electronic part is located on a further board, but with the recess provided with the electronic board can be connected.
  • the electronics board provided with the recess can receive the power electronics
  • the additional, second board receives the control electronics.
  • the electronic board is also a carrier of a sensor which is used to determine the steering torque applied by the driver to the steering shaft. By integrating the steering torque sensor on the electronic board further simplification and space reduction is achieved.
  • the sensor technology and the control or logic electronics are summarized. An additional cable guide for the sensor can be omitted.
  • the sensor on the electronic board is used to determine the steering torque, which may be derived from an angle information detected by the sensor. For example, the relative angular rotation between two steering shaft sections connected via a torsion bar can be detected via the sensor, wherein the steering torque can be deduced from the relative rotational position between the steering shaft sections.
  • the sensor is, for example, as a magnetic field sensor, in particular as a
  • Hall sensor designed to which a coupled to the steering shaft magnet as Sig- is assigned.
  • the sensor may be suitably connected to the electronic board, for example, plugged, soldered or welded to the electronics board. Magnetic field changes caused by the change in the steering angle and the magnet connected to the steering angle can be sensed via the magnetic field sensor or the Hall sensor on the electronic board.
  • the magnet which is fixedly connected to the steering shaft or a steering shaft section, is expediently spaced axially to the magnetic field sensor.
  • This has the advantage that the magnet and the magnetic field sensor in the radial direction - with respect to the steering shaft axis - can be arranged at least approximately at the same height, so that no additional space is needed in the radial direction.
  • the senor can be embodied as an optoelectronic sensor which comprises an optical sensor unit with the aid of which a relative rotational angle position between steering shaft sections which are connected via the torsion bar can be determined.
  • the optical sensor unit is in this case arranged on the electronic circuit board and comprises, for example, at least partially overlapping reflector disks which are connected to the upper and the lower steering shaft section, wherein a light beam emitted by the optical sensor unit differs depending on the relative angular position between the two reflector disks is strongly reflected.
  • the reflected light beam is registered in the optical sensor unit, wherein from the strength of the reflected light beam on the degree of coverage between the reflector discs and thus the relative rotational angular position between the upper and lower steering shaft section can be concluded, from which the steering torque is determined.
  • the reflector disks are, for example, designed as intermeshing, preferably rectified hollow cylinders whose cylinder walls are provided with reflectors or with recesses, wherein the recessed hollow cylindrical reflector disk engages over the hollow cylindrical reflector disk provided with reflectors. If a recess in the outer reflector disk overlaps the radially inner reflector, a higher proportion of the
  • the sensor may also be a steering angle sensor with which the steering angle of the steering shaft, which is predetermined by the driver, can be determined. Also in this case the sensor is located on the electronic board.
  • the steering angle sensor is, for example, a magnetic sensor connected to the electronic board, to which a magnet piece or a magnet is associated, which is connected to the steering shaft or a steering shaft section. About the magnetic sensor magnetic field changes of the rotating with the steering shaft magnet piece or the magnet are sensed.
  • the sensor may also be an incremental sensor, via which the number of steering shaft revolutions can be determined.
  • FIG. 1 is a schematic view of a steering system in a vehicle, with a servo motor associated with the steering shaft of the steering system,
  • FIG. 5 shows a steering system in perspective view with the sensor device for determining the steering torque in optoelectronic design
  • FIG. 7 shows a section through the steering shaft in the region of the optoelectronic sensor.
  • the steering system 1 shown in Fig. 1 in a vehicle comprises a steering wheel 2, a steering shaft 3, a steering gear 4, a steering linkage 5 with a rack and steerable wheels 6.
  • the driver is by operation of the steering wheel 2, a steering angle 5 L w in the connected to the steering wheel steering shaft 3, which adjusts the rack of the steering linkage 5 in the transverse direction via the steering gear 4, whereupon the wheel steering angle ⁇ ⁇ is set at the steerable wheels.
  • an electric servomotor 7 which initiates a supporting drive torque in the steering shaft 3 via a transmission.
  • the transmission comprises a worm on a shaft portion of the motor shaft of the servomotor 7 and a worm gear meshing with the worm, which is rotatably connected to the steering shaft 3.
  • the steering shaft 3 and the motor shaft of the electric servomotor 7 are accommodated in a bearing housing 8 of the steering system 1.
  • the bearing housing 8 for receiving the steering shaft 3 comprises a motor shaft housing 1 1 for receiving the motor shaft of the electric servo motor 7, wherein the motor shaft longitudinal axis perpendicular and at a distance from the longitudinal axis 14 of the steering shaft 3.
  • a Lager L. Stator flange 28 is formed, on which the stator 16 of the electric servo motor 7 is held.
  • the stator flange 28 is part of the stator housing and suitably connected to the bearing housing 8.
  • the motor shaft 15 is provided with a worm which meshes with a worm wheel 20 which is rotatably connected to a lower steering shaft portion 3b of the two-part steering shaft 3.
  • An upper steering shaft section 3a is connected to the lower steering shaft section 3b via a torsion bar 45. If the driver applies a steering torque to the upper steering shaft section 3a via the steering wheel, the torsion bar 45 then twists, whereupon a relative rotational angle is set between the upper and lower steering shaft sections 3a, 3b.
  • This relative rotational angle can be determined by means of a sensor device 46, it being possible to calculate back from the relative rotational angle to the steering torque.
  • an electronic board 40 is accommodated, which is aligned orthogonal to the longitudinal axis 14 of the steering shaft 3.
  • a recess 41 (Fig. 4) is introduced, through which the steering shaft 3 is passed.
  • the sensor device 46 is of annular design and placed concentrically with the recess 41 on the electronic circuit board 40.
  • the 40 receives electronic components, in particular a power electronics 23 for controlling the electric servo motor 7. From the servo motor 7 protrude terminal contacts 47 through a recess in the stator 28, wherein the terminals 47 are connected to the electronic board 40 and the power electronics 23 and other electronic components , In addition to
  • Power electronics 23, the electronic board 40 also have a control or logic electronics for the electric servo motor.
  • the sensor device 46 is shown in a detail view, each having an annular lower part 48 and a top part 49, wherein the lower part 48 is connected to the lower steering shaft section 3b and the upper part 49 to the upper steering shaft section 3a.
  • a ring magnet 50 is fixedly connected, which is provided in the circumferential direction with alternating north-south magnetization.
  • the magnetic field of the ring magnet 50 is detected by two magnetic field sensors 51 and 52 disposed on the electronic board 40; the magnetic field sensors 51, 52 are designed, for example, as Hall sensors.
  • the two magnetic field sensors 51 and 52 are arranged one behind the other in the circumferential direction and have in the circumferential direction at a distance corresponding to the magnetic division of the ring magnet 50.
  • the torsion bar 45 will twist, resulting in a relative rotational angle between the upper part 49 and the lower part 48.
  • the relative rotational angle can be determined by the two magnetic field sensors 51, 52 on the electronic board, from which it is possible to deduce the steering torque applied by the driver.
  • the magnetic field sensors 51, 52 are located in an annular space radially between an inner annular wall 53 and an outer annular wall 54 of the lower part 48 of the sensor device. This makes it possible that when applying a steering angle to the steering shaft 3, the two magnetic field sensors 51, 52 within the lower part 48th collision-free despite the relative rotation of the lower part 48 relative to the circuit board 40 and the magnetic field sensors can be arranged.
  • an incremental sensor 55 which cooperates with a magnet piece 57 which is held in the upper part 49, is accommodated in a carrier component 56, which is preferably made of plastic and which is fixedly arranged on the electronic circuit board 40.
  • the incremental sensor 55 provides a signal so that the number of steering shaft revolutions can be detected.
  • the contacts 58 of the incremental sensor 55 are guided along the carrier component 56 as far as the electronic circuit board 40.
  • FIGS. 5 to 7 show a steering system with a sensor device in a further embodiment.
  • the optoelectronic sensor device 60 comprises an optoelectronic sensor 61, which sits on the electronic circuit board 40, and two hollow cylindrical reflector disks 62 and 63, which are aligned in the same direction and arranged interlocking, the inner reflector disk 62 with a smaller diameter rotatably connected to the lower steering shaft section 3b and the outer Reflector disk 63 with a larger diameter rotatably connected to the upper steering shaft portion 3a.
  • the two hollow cylindrical reflector discs 62 and 63 are arranged concentrically to the longitudinal axis 14 of the steering shaft 3 and surround with its cylinder wall, the recess 41 in the electronic circuit board 40, through which the steering shaft is passed.
  • the optoelectronic sensor 61 is radially spaced from the cylinder wall of the outer reflector disk 63.
  • the inner reflector disk 62 has a plurality of axially extending, strip-shaped reflectors 64 distributed over the circumference, to which recesses 65 in the cylinder wall of the outer reflector disk 63 are assigned.
  • the optoelectronic sensor 61 comprises an optical sensor unit, via which a light beam is emitted radially in the direction of the reflector disks 62, 63, after which, depending on the degree of coverage of the recesses 65 in the outer reflector disk 63 and the reflectors 64 in the inner reflector disk 62, the emitted light beam differs is strongly reflected, which can be sensed in the optoelectronic sensor 61.
  • the reflectors 64 and the recesses 65 lie directly in the non-relatively twisted state. bar on top of each other, so that a maximum degree of coverage and, accordingly, a high reflection of the emitted light beam is given.
  • the relative rotational angular position between the reflector discs 62 and 63 changes, whereby the degree of coverage of the reflectors 64 and the recesses 65 is reduced and the intensity of the reflected light beam is correspondingly reduced.

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 système de direction d'un véhicule, comprenant un arbre de direction (3) transmettant un angle de braquage prédéfini par le conducteur et un servomoteur électrique (7) produisant un couple d'entraînement supplémentaire. Une platine électronique (40) dotée de composants électroniques servant à commander le servomoteur (7) est pourvue d'un évidement (41) à travers lequel l'arbre de direction (3) est guidé. La platine électronique (40) sert en outre de support à un capteur (51, 52, 61) permettant de déterminer le couple de braquage et/ou l'angle de braquage produit par le conducteur.
PCT/EP2012/073442 2011-11-30 2012-11-23 Système de direction d'un véhicule Ceased WO2013079399A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011055893A DE102011055893A1 (de) 2011-11-30 2011-11-30 Lenksystem in einem Fahrzeug
DE102011055893.4 2011-11-30

Publications (1)

Publication Number Publication Date
WO2013079399A1 true WO2013079399A1 (fr) 2013-06-06

Family

ID=47226163

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/073442 Ceased WO2013079399A1 (fr) 2011-11-30 2012-11-23 Système de direction d'un véhicule

Country Status (2)

Country Link
DE (1) DE102011055893A1 (fr)
WO (1) WO2013079399A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111942465A (zh) * 2019-05-16 2020-11-17 操纵技术Ip控股公司 高度集成的eps系统

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017124784A (ja) * 2016-01-15 2017-07-20 Ｋｙｂ株式会社 電動パワーステアリング装置
DE102016222704A1 (de) * 2016-11-18 2018-05-24 Volkswagen Aktiengesellschaft Lenkungssteuerungssystem zum Steuern einer Lenkung für ein Kraftfahrzeug und Verfahren zum Steuern einer Lenkung für ein Kraftfahrzeug
DE102019112422A1 (de) * 2019-05-13 2020-11-19 Schaeffler Technologies AG & Co. KG Lenkmomentensensoranordnung
KR102086450B1 (ko) * 2019-11-20 2020-03-10 주식회사 케이에이알 자율 주행 시스템 및 자율 조향 장치
DE102022206590A1 (de) * 2022-06-29 2024-01-04 Zf Friedrichshafen Ag Lenkgetriebe mit Positionssensorik sowie elektrisches Lenksystem mit dem Lenkgetriebe

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19703903A1 (de) 1997-02-03 1998-08-13 Bosch Gmbh Robert Lenkwinkelsensor
DE102005007357A1 (de) * 2004-02-17 2005-09-08 Hitachi, Ltd. Hilfskraflenkungs-Vorrichtung eines Elektromotors

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4144364B2 (ja) * 2003-01-31 2008-09-03 株式会社ジェイテクト トルク検出装置
DE102006061702A1 (de) * 2006-12-28 2008-07-03 Robert Bosch Gmbh Elektrischer Servomotor in einem Lenksystem eines Fahrzeugs
KR101650455B1 (ko) * 2009-11-20 2016-08-23 엘지이노텍 주식회사 차량의 조향토크 및 조향각 검출장치
DE102010018724A1 (de) * 2010-04-29 2011-11-03 Hella Kgaa Hueck & Co. Induktiver Drehwinkelsensor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19703903A1 (de) 1997-02-03 1998-08-13 Bosch Gmbh Robert Lenkwinkelsensor
DE102005007357A1 (de) * 2004-02-17 2005-09-08 Hitachi, Ltd. Hilfskraflenkungs-Vorrichtung eines Elektromotors

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111942465A (zh) * 2019-05-16 2020-11-17 操纵技术Ip控股公司 高度集成的eps系统
US11548547B2 (en) 2019-05-16 2023-01-10 Steering Solutions Ip Holding Corporation Highly integrated EPS system
CN111942465B (zh) * 2019-05-16 2023-08-18 操纵技术Ip控股公司 高度集成的eps系统

Also Published As

Publication number Publication date
DE102011055893A1 (de) 2013-06-06

Similar Documents

Publication Publication Date Title
EP2932217B2 (fr) Dispositif doté d'un équipement détecteur de couple de rotation et d'un équipement détecteur d'angle de braquage pour véhicule automobile, et véhicule automobile
DE112020002949T5 (de) Steer-by-Wire-Lenkvorrichtung
EP3250440B1 (fr) Dispositif destiné à appliquer un couple d'assistance à un arbre de direction d'une direction assistée électromécanique
DE102007015494B4 (de) Lenkvorrichtung
DE112019005187B4 (de) Steer-by-wire-lenkvorrichtung
WO2013079399A1 (fr) Système de direction d'un véhicule
EP2090497A1 (fr) Dispositif de détermination d'un angle de torsion
DE102013008204A1 (de) Drehmomentsensor und Hilfskraftlenkungssystem, das den Drehmomentsensor verwendet
EP2743662A1 (fr) Dispositif comprenant une installation de capteurs de couple et en option une installation de capteurs d'angle de direction pour un véhicule automobile, et procédé de fabrication d'une installation de capteurs de couple
EP2718171B1 (fr) Système de direction dans un véhicule
EP3148860B1 (fr) Arbre de direction d'un véhicule automobile
DE112015001311T5 (de) Servolenkungsvorrichtung
EP2383558A1 (fr) Capteur d'angle inductif
DE112020004432T5 (de) Steer-by-wire-lenkvorrichtung
EP3390999A1 (fr) Support de stator, ensemble stator, procédé d'assemblage d'un ensemble stator, dispositif de détection d'un couple muni d'un ensemble stator et d'un support de stator, et véhicule automobile muni d'un dispositif de détection d'un couple
DE202017007168U1 (de) Drehmomenterfassungsvorrichtung und elektrische Servolenkung
WO2019025476A1 (fr) Procédé de montage par soudage par ultrasons d'une unité structurale intégrée dans la direction électromécanique d'un véhicule à moteur, ladite unité structurale comportant une unité de détection de couple et une unité de détection d'angle de braquage
WO2016050382A1 (fr) Concept de détection combiné pour systèmes de direction de véhicules automobiles
DE102011051064A1 (de) Lenksteuervorrichtung
EP2934987B1 (fr) Système de capteurs comportant un dispositif capteur de couple et un dispositif capteur d'angle de direction pour un arbre de direction, lequel présente une partie d'arbre d'entrée, côté volant, et une partie d'arbre de sortie, système d'arbre de direction pour un véhicule automobile, véhicule automobile et procédé de fabrication d'un système d'arbre de direction
WO2012168110A1 (fr) Système de direction situé dans un véhicule
EP1939067B1 (fr) Servomoteur électrique d'un système de direction d'un véhicule
EP2718170B1 (fr) Système de direction situé dans un véhicule
DE102011017335A1 (de) Fahrzeuglenkung mit Verriegelungsscheibe und Lagesensor
EP3577421B1 (fr) Systeme detecteur pour la detection de la position de rotation d'un arbre rotatif avec un aimant de codage soudé par ultrasons

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12791169

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 12791169

Country of ref document: EP

Kind code of ref document: A1