CN106020078B - A kind of remaining controller circuitry for double remaining turning machines - Google Patents

Abstract

The invention relates to a redundancy controller circuit for a dual-redundancy steering gear, which belongs to the technical field of automobile electric control. The circuit is composed of first, second and third sub-controllers; wherein, the first and second sub-controllers are The controllers have the same structure and are used to control one motor in the redundant steering gear and monitor each other. When the other motor or sub-controller fails, the motor controlled by the other sub-controller is cut off, so that the dual-redundancy steering gear enters a single Redundant working mode; the third sub-controller monitors the first and second sub-controllers at the same time, and can cut off the transmission signal of the sub-controller to the other sub-controller when a sub-controller fails, so as to avoid Incorrect disconnection caused by failure of the sub-controller of this path; the three sub-controllers communicate and monitor each other through the redundant wire transmission network. The circuit can effectively drive the dual-redundancy steering gear to complete the normal steering operation in the transmission-by-wire steering system, and ensure the safety and reliability of the steering system on the premise of completing the steering function.

Description

A Redundancy Controller Circuit for Double Redundancy Steering Gear

technical field

The invention belongs to the technical field of automobile electrical control, and in particular relates to a controller circuit for a double-redundancy steering gear.

Background technique

Compared with the traditional mechanical steering system, the wire-by-wire steering system cancels the mechanical connection between the steering gear and the steering gear, and transmits the steering and return signals through electrical signals. This change has improved the handling stability, passive safety and driving comfort of the steering system of the car. However, because the reliability of electronic components in the wire steering system is not as good as that of traditional mechanical steering, double redundancy or more redundancy is often used in the wire steering system, so that the steering system can still work normally under a single fault, thus Improve the safety and reliability of the drive-by-wire steering system.

The dual-redundancy steering gear is the mechanism responsible for performing the steering function in the dual-redundancy wire-by-wire steering system. It uses two motors as power sources, and drives the steering gear to perform steering operations through gear meshing. In the applicant's published patent (Application Publication No. CN105313954A) "Double Drive Steering Mechanism for Steering by Wire", a structure of a double-redundancy steering machine is described. In the dual-redundancy steering machine, since the two motors have the same status, when one motor drive fails, the system requires to detect the fault and isolate the faulty channel, so as to ensure that the steering can still be carried out normally. In order to ensure the reliability of the steering function, the dual-redundancy steering gear needs to be controlled by a redundancy controller.

In the prior art of a controller for controlling a dual-redundancy steering gear, a non-redundant single controller or a solution of dual controllers plus a central controller is often used. Such a controller cannot guarantee the realization of the system function and the driver's steering safety under the failure of a single controller or the central controller, and the guarantee for the reliability of the steering function is insufficient.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention proposes a redundancy controller circuit for a dual redundancy steering gear, which can effectively drive the dual redundancy steering gear to complete the normal steering operation in the online transmission steering system; at the same time, On the premise of completing the steering function, the safety and reliability of the steering system are guaranteed.

A kind of redundancy controller circuit that is used for double redundancy steering gear, it is characterized in that, this circuit is made of first sub-controller, second sub-controller and the third sub-controller; Wherein, the first sub-controller and The second sub-controller has the same composition and structure, and is used to control one motor in the redundant steering gear, and monitor each other. When the other sub-controller fails, cut off the motor, so that the dual-redundancy steering gear enters single-redundancy Working mode; the third sub-controller monitors the first sub-controller and the second sub-controller at the same time, and can cut off the transmission signal of the sub-controller to the other sub-controller when a sub-controller fails, so as to Avoid false disconnection caused by the failure of the sub-controller of this route, and ensure the normal operation of the wire-by-wire steering system; the three sub-controllers communicate and monitor each other through the redundant wire-based network composed of the FlexRay bus and the CAN bus.

The redundancy controller circuit proposed by the present invention is used for the dual redundancy steering gear of the redundancy wire-by-wire steering system, and it has the following characteristics:

1. It can effectively drive the dual-redundancy steering gear to complete the normal steering operation in the online transmission steering system;

2. When any single fault occurs in the redundancy controller, the wire-by-wire steering system can continue to work safely through the effective fault diagnosis and isolation mechanism among the three sub-controllers;

3. The redundancy controller, the redundancy steering machine, the redundancy steering gear, the redundancy power supply and the redundancy wire transmission network together form the redundancy wire transmission steering system. When controlling the dual redundancy steering gear, it can efficiently complete the Under the premise of steering function, the safety and reliability of the wire-by-wire steering system are guaranteed;

Description of drawings

Fig. 1 is a schematic diagram of the overall circuit structure of the redundancy controller of the present invention.

Fig. 2 is a schematic diagram of the circuit structure of the first sub-controller in the redundancy controller circuit of the present invention.

Fig. 3 is a schematic diagram of the circuit structure of the third sub-controller in the redundancy controller circuit of the present invention.

Fig. 4 is a schematic circuit structure diagram of an embodiment of a fault isolation module in the redundancy controller circuit of the present invention.

Detailed ways

A kind of redundant controller circuit that the present invention proposes is used for double redundant steering machine is described as follows in conjunction with accompanying drawing and embodiment:

A composition structure of a redundancy controller circuit for a dual redundancy steering gear proposed by the present invention is shown in Figure 1, the circuit is composed of a first sub-controller, a second sub-controller and a third sub-controller; Among them, the first sub-controller and the second sub-controller have the same structure, and are used to control one motor in the redundant steering gear respectively, and monitor each other, and cut off the control of the other sub-controller when the other motor or sub-controller fails. motor, so that the double-redundancy steering gear enters the single-redundancy working mode; the third sub-controller monitors the first sub-controller and the second sub-controller at the same time, and can cut off the sub-controller when a sub-controller fails. The controller transmits signals to another sub-controller to avoid false cut-off caused by the failure of the sub-controller, and to ensure the normal operation of the steering system by wire; the three sub-controllers are connected by the FlexRay bus (new vehicle network standard) (Controller Local Area Network) constitutes a redundant line transmission network for communication and mutual monitoring.

In the redundancy controller circuit, the first sub-controller is provided with five external interfaces: motor interface P _M1 , power supply interface P _P11 , digital power supply interface P _P12 , angle sensor interface P _AS1 , communication interface P _C1 , and 2 internal interfaces P ₁₂ and P ₁₃ ; the second sub-controller has 5 external interfaces: motor interface P _M2 , power supply interface P _P21 , digital power interface P _P22 , angle sensor interface P _AS2 , communication interface P _C2 , and 2 internal interfaces P ₂₁ and P ₂₃ ; the third sub-controller is provided with 1 external interface, namely the communication interface P _C3 , and 2 internal interfaces P ₃₁ and P ₃₂ ; among them, the three sub-controllers respectively pass the communication interface P _C1 , P _C2 and P _C3 are connected to the external redundant line transmission network; the first and second sub-controllers are connected to the motors controlled by them through the motor interfaces P _M1 and P _M2 , respectively through the power supply interfaces P _P11 and P _P21 , digital power supply interface P _P12 and P _P22 are connected to the external redundant power supply composed of power supply and digital power supply, and are connected to the external rotation angle sensor through the rotation angle sensor interface P _AS1 and P _AS2 ; the first and second sub-controllers are connected through The internal interfaces P ₁₂ and P ₂₁ are connected to each other, the first and third sub-controllers are connected to each other through internal interfaces P ₃₁ and P ₁₃ , and the second and third sub-controllers are connected to each other through internal interfaces P ₂₃ and P ₃₂ connect.

The concrete composition of each sub-controller of the present invention is described as follows respectively in conjunction with accompanying drawing:

In the present embodiment, the circuit composition of the first and second sub-controllers driving the motor is the same, and the circuit of the first sub-controller is taken as an example to be specifically described as follows: the circuit structure of the first sub-controller is as shown in Figure 2 , mainly including single-chip microcomputer E and its peripheral circuit (the peripheral circuit refers to the smallest circuit attached to the single-chip microcomputer, such as a crystal oscillator, which are all conventional electronic components), power supply modules _P1 and _P2 , composed of CAN corner transceiver _CS and Information processing module composed of current sensor CS, communication module composed of CAN transceiver C and FlexRay transceiver F, motor drive module composed of fault isolation module B and H bridge drive circuit D, 5 external interfaces and 2 internal interfaces The connection relationship of the above-mentioned electronic components is as follows: After the single-chip microcomputer E is connected with the CAN transceiver C and the FlexRay transceiver F in the communication module, the CAN bus and the FlexRay bus in the external redundant line transmission network are respectively connected through the communication interface P _C1 , and transmit the signal s ₁₂ to the second sub-controller through the internal interface P ₁₂ ; the single-chip microcomputer E is connected with the angle sensor interface P _AS1 through the CAN angle transceiver _CS in the information processing module, and collects through its internal A/D module The motor current signal u _i measured by the current sensor CS through the motor interface P _M1 ; the power supply interface P _P11 is respectively connected to the H-bridge drive circuit D and the fault isolation module B in the motor drive module through the power ground GND1 and the power supply VBAT, H One end of the bridge drive circuit D is connected to the positive pole Motor ⁺ of the motor through the current sensor CS and the motor interface _PM1 , and the other end of the H bridge drive circuit D is connected to the negative pole Motor ^- of the motor through the motor interface _PM1 , and the H bridge drive circuit D obtains The driving signal INH and the control signal PWM of the single chip microcomputer E, the fault isolation module B obtains the signal s 21 sent by the second sub-controller to the first sub-controller and the signal s ₂₁ sent by the third sub-controller to the first sub-controller through the internal interfaces P ₁₂ and P ₁₃ respectively. The signal s ₃₁ sent by the sub-controller; the 12V digital power obtained by the digital power interface P _P12 and the digital ground GND, wherein the 12V digital power is connected in series with the angle sensor interface P _AS1 and the internal interface P ₁₃ respectively through the fuse f, and then sequentially After the 12V to 5V power supply module P ₁ supplies power to the CAN corner transceiver of the communication module and the information processing module, the 5V power supplies power to the microcontroller E through the 5V to 3.3V power supply module P ₂ , and the digital ground GND is connected to the corner sensor interface P _AS1 respectively It is connected with the internal interface P ₁₃ and shares the ground with the single-chip microcomputer E. The digital ground GND is connected to the power ground GND through a 0Ω resistor.

The difference between the third sub-controller of this embodiment and the first and second sub-controllers is that the motor drive module, information processing module and their corresponding external interfaces in the first and second sub-controllers are removed, and Concrete structure as shown in Figure 3, the 3rd sub-controller comprises single-chip microcomputer E and peripheral circuit thereof (the peripheral circuit refers to the minimum circuit attached to single-chip microcomputer, as crystal oscillator etc., is conventional electronic components and parts), by CAN transceiver C Communication module composed of FlexRay transceiver F, power supply modules P ₁ and P ₂ , communication interface P _C3 , and internal interfaces P ₃₁ and P ₃₂ ; among them, communication interface P _C3 is connected to the CAN bus and the FlexRay bus of the redundancy line transmission network , and receive and send information through CAN transceiver C, FlexRay transceiver F and microcontroller E; the 12V digital power input through the two internal interfaces of P ₃₁ and P ₃₂ respectively passes through fuse f ₁ and After f ₂ is connected in parallel, it supplies power to CAN transceiver C and FlexRay transceiver F in the communication module via 12V to 5V power module P ₁ , and then supplies power to single-chip microcomputer E through 5V to 3.3V power supply module P ₁ ; single-chip microcomputer E through the internal interface P ₃₁ outputs a signal s ₃₁ to the first sub-controller, and outputs a signal s ₃₂ to the second sub-controller through the internal interface P ₃₂ .

The specific implementation and function description of each device of the first sub-controller in this embodiment is as follows in conjunction with the accompanying drawings:

The CAN transceiver C and the FlexRay transceiver F in the communication module are respectively connected to the CAN bus and the FlexRay bus in the redundant line transmission network through the communication interface _PC1 , and the single-chip microcomputer is connected to the redundancy through the CAN transceiver C and the FlexRay transceiver F. Send and receive information through the wire transmission network;

The CAN corner transceiver _CS in the information processing module receives the corner signal measured from the corner sensor interface _PAS1 , and the single-chip microcomputer carries out data processing to the above-mentioned corner signal; The motor interface P _M1 measures the motor current signal u _i , which is obtained by the single-chip microcomputer after being collected by the A/D module of the single-chip microcomputer; the current sensor used in this embodiment is a Hall-type current sensor;

The H-bridge drive circuit D of this embodiment is composed of two half-bridge drive chips and their peripheral circuits, and is used to receive the drive signal INH and the control signal PWM of the single-chip microcomputer E, and drive the motor to perform steering operations;

The fault isolation module B of this embodiment is used to control the on-off of the motor power supply, and is mainly composed of digital gating circuits Opp (not gate) and Or (or gate), high-side driver chip _s1 and pull-down resistor R, as shown in Figure 4 As shown; the working principle of the fault isolation module B is: the signal s ₃₁ transmitted from the third sub-controller to the first sub-controller passes through the NOT gate Opp and then connected to the pull-down resistor R, and then connected with the second sub-controller to the first sub-controller The signal s ₂₁ transmitted by the word control passes through the OR gate Or together, and the output signal is obtained from the input terminal of the high-side driver chip s ₁ ; wherein, the function of the pull-down resistor R is to keep the pin at a low level in a normal state. The function of the fault isolation module B is: when the first and second sub-controllers are all working normally, the signal s ₂₁ of the second sub-controller to the first sub-controller and the third sub-controller to the first sub-controller The signals s ₃₁ of the device are all high level, and the output terminal of the OR gate Or is high level, keeping the fault isolation module B normally on, the channel of the current i ₁ flowing to the motor M ₁ is turned on, and the motor works normally; and when the first or the second When the second sub-controller fails, the fault isolation module B receives the signal s ₂₁ of the second sub-controller on the one hand, and when the first sub-controller fails, it can make or The output terminal of the gate Or is low level, thereby isolating the drive of the first sub-controller to its control motor; on the other hand, it receives the signal s ₃₁ of the third sub-controller, and when the second sub-controller fails, the signal is switched from high to The jump from the level to the low level makes the output terminal of the OR gate Or always be at the high level, thereby isolating the false cut-off of the first sub-controller by the second sub-controller.

The power module of this embodiment is composed of two DC-DC voltage conversion chips and their peripheral circuits, that is, 12V to 5V power module _P1 and 5V to 3.3V power module _P2 . The peripheral circuits refer to some conventional The circuit composition of the power supply module is as follows: input 12V digital power supply and 12V power supply VBAT from the digital power supply interface P _P12 and power supply interface P _P11 respectively; The sensor interface P _AS1 directly supplies power to the corner sensor, and then supplies power to the communication module of the first sub-controller and the CAN corner transceiver of the information processing module after passing through the 12V to 5V power module _P1 , and then through the 5V to 3.3V power module _P2 Then supply power to the single-chip microcomputer E in the first sub-controller; the 12V power supply connects the positive pole Motor+ and the negative pole Motor- of the brushed DC motor through the connector connected by the copper sheet, and supplies power to the motor through the motor interface P _M1 ;

In this embodiment _, the internal interfaces of the first sub-controller are _P12 and _P13 , and their functions are respectively: the internal interface _P12 is used to transmit the signal s12 sent by the single-chip microcomputer E in the first sub-controller to the second sub-controller and the signal s ₂₁ sent by the second sub-controller to the fault isolation module B in the first sub-controller; the internal interface P ₁₃ is used to transmit the signal s sent by the third sub-controller to the fault isolation module B in the first sub-controller ₃₁ and the 12V digital power supply and digital ground GND provided by the first sub-controller to the third sub-controller through the digital power interface _PP12 .

When the redundancy controller circuit of this embodiment is working normally, the first sub-controller and the second sub-controller respectively drive one motor of the dual-redundancy steering gear, thereby driving the dual-redundancy steering gear to perform the steering function normally. During normal operation, the three sub-controllers are in the working state of mutual monitoring. When a single fault occurs in the first sub-controller or the motor controlled by it, the second sub-controller can detect the fault and cut off the power supply of the motor driven by the first sub-controller through the signal _s21 . At the same time, the third sub-controller The controller also detects this fault, and cuts off the signal s ₁₂ transmitted by the first sub-controller to the second sub-controller through the signal s ₃₁ , thereby avoiding the influence of the signal s ₁₂ on the motor driven by the second sub-controller, that is, avoiding the signal s 12 transmitted by the second sub-controller The false cut-off caused by the failure of the first sub-controller ensures the normal operation of the second sub-controller and the motor it drives, and the drive-by-wire steering system can still perform normal steering functions under the control of the second sub-controller; similarly, When a single fault occurs in the second sub-controller or the motor it controls, the first sub-controller can detect the fault and cut off the power supply of the motor driven by the second sub-controller through the signal _s12 , and at the same time, the third sub-controller The controller also detects this fault, and cuts off the signal s ₂₁ transmitted by the second sub-controller to the first sub-controller through the signal s ₃₂ , thereby avoiding the influence of the signal s ₂₁ on the motor driven by the first sub-controller, that is, avoiding the signal s 21 transmitted by the first sub-controller The false cut-off caused by the failure of the second sub-controller ensures the normal operation of the first sub-controller and the motor it drives, and the steer-by-wire system can still perform normal steering functions under the control of the first sub-controller; when the third sub-controller When the sub-controller fails, it will not affect the steering function of the system. Under such a fault diagnosis and isolation mechanism among the three sub-controllers, it can ensure that the dual-redundancy steering gear controlled by the redundancy controller can normally complete the steering function under any single fault, ensuring the safety of the system.

Claims (4)

1. A redundancy controller circuit for a dual redundancy steering gear, characterized in that the circuit is made of a first sub-controller, a second sub-controller and a third sub-controller; wherein the first sub-controller The two sub-controllers have the same structure as the second sub-controller, and are used to control one motor in the redundant steering gear respectively, and monitor each other. Redundant working mode; the third sub-controller monitors the first sub-controller and the second sub-controller at the same time, and can cut off the transmission signal of the sub-controller to the other sub-controller when a sub-controller fails In order to avoid false cut-off caused by the failure of the sub-controller, and ensure the normal operation of the wire-by-wire steering system; the three sub-controllers communicate and monitor each other through the redundant wire-based network composed of the FlexRay bus and the CAN bus; The first and second sub-controllers are provided with motor interface, power supply interface, digital power supply interface, angle sensor interface, communication interface and two internal interfaces; the third sub-controller is provided with communication interface and two internal interfaces ; Among them, the three sub-controllers are respectively connected to the external redundant line transmission network through their respective communication interfaces; The power supply interface is connected to the external redundant power supply, and connected to the external angle sensor through their respective angle sensor interfaces; the first and second sub-controllers are connected to each other through their respective first internal interfaces (P ₁₂ , P ₂₁ ), The second internal interface (P ₁₃ ) of the first sub-controller is connected to the first internal interface (P ₃₁ ) of the third sub-controller, and the second internal interface (P ₂₃ ) of the second sub-controller is connected to the first internal interface (P 31 ) of the third sub-controller. The second internal interfaces (P ₃₂ ) of the three sub-controllers are connected to each other. 2. circuit as claimed in claim 1, it is characterized in that, the circuit of the first, the second sub-controller all comprises single-chip microcomputer and peripheral circuit thereof, two power supply modules, the information processing module that is made of CAN corner transceiver and current sensor , a communication module composed of a CAN transceiver and a FlexRay transceiver, a motor drive module composed of a fault isolation module and an H bridge drive circuit, five external interfaces and two internal interfaces; the connection relationship of each electronic component is: The single chip microcomputer is respectively connected with the CAN transceiver, the FlexRay transceiver, the CAN corner transceiver, the current sensor, the H bridge drive circuit and the first internal interface, the CAN transceiver and the FlexRay transceiver are connected to the communication interface, and the CAN corner transceiver is connected to the corner sensor interface ; The first end of the H-bridge drive circuit is connected to the current sensor and connected to the positive pole of the external motor through the motor interface, and the second end is connected to the negative pole of the external motor through the motor interface; after the third end of the H-bridge drive circuit is connected in series with the fault isolation module It is connected to the power supply interface, and the fourth terminal is connected to the power ground through the power supply interface; the fault isolation module is respectively connected to the two internal interfaces; the single-chip microcomputer is connected in series with the two power supply modules in turn and connected to the digital power interface through the fuse, and the digital power interface passes through the The above-mentioned fuses are respectively connected with the angle sensor interface and the second internal interface. 3. circuit as claimed in claim 1, is characterized in that, described 3rd sub-controller comprises single-chip microcomputer and its peripheral circuit, the communication module that is made up of CAN transceiver and FlexRay transceiver, two power supply modules, communication interface and two internal interface; the connection relationship of each electronic component is: single-chip microcomputer is connected with CAN transceiver, FlexRay transceiver and 2 internal interfaces respectively, and CAN transceiver, FlexRay transceiver are all connected to communication interface; Via two internal interfaces respectively The input digital power is connected in parallel through two fuses, then connected in parallel with the CAN transceiver and the FlexRay transceiver through the first power module (P ₁ ), and then connected with the microcontroller through the second power module (P ₂ ). 4. circuit as claimed in claim 2, is characterized in that, described fault isolation module comprises the digital gating circuit that is made up of NOT gate and OR gate, high-side drive chip and pull-down resistor; Wherein, by the 3rd sub-controller to The signal transmitted by the first or second sub-controller passes through the NOT gate followed by a pull-down resistor, and then passes through the OR gate together with the signal transmitted between the first and second sub-controllers, and the output signal is obtained from the input terminal of the high-side driver chip .