CN114889690A - Steer-by-wire system and vehicle - Google Patents
Steer-by-wire system and vehicle Download PDFInfo
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- CN114889690A CN114889690A CN202210592244.8A CN202210592244A CN114889690A CN 114889690 A CN114889690 A CN 114889690A CN 202210592244 A CN202210592244 A CN 202210592244A CN 114889690 A CN114889690 A CN 114889690A
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- 238000013461 design Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 14
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- 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
- B62D5/0457—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 control features of the drive means as such
- B62D5/0481—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 control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—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 control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- 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
- B62D5/0457—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 control features of the drive means as such
- B62D5/0481—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 control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—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 control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more AC dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The application provides a line control steering system and a vehicle, wherein the system comprises a three-phase motor, a six-phase motor and a steering execution module, the three-phase motor and the six-phase motor are electrically connected with the steering execution module, and the six-phase motor consists of a first three-phase winding and a second three-phase winding; one of the three-phase motor or the six-phase motor independently outputs driving force, and the other motor serves as backup output; or the three-phase motor and the six-phase motor output driving force together, one part of windings of the six-phase motor are used as main output, and the other part of windings are used as backup output; one of the first three phases or the second three phases independently outputs a driving force, and the other three phases serves as a backup output; or the first three phases and the second three phases output driving force together, a part of windings of the first three phases and a part of windings of the second three phases are used as main outputs, and the other part of windings of the first three phases and the other part of windings of the second three phases are used as backup outputs. The steer-by-wire system is of a triple redundancy design, and steering safety can be improved.
Description
Technical Field
The application relates to the technical field of steer-by-wire, in particular to a steer-by-wire system and a vehicle.
Background
With the continuous development of intelligent driving technology, drivers can gradually release from driving behaviors. For a steering system, an upgrade from mechanical steering to steer-by-wire is gradually made. However, the steering system also loses the ability to mechanically back up after the mechanical linkage is removed. Once the drive-by-wire signal fails, the steering system will not meet the safe driving requirements.
At present, a steering system with a dual redundancy design is usually adopted, two sets of identical and mutually independent steering driving systems are deployed to be mutually redundant in backup, the two sets of systems can work simultaneously to provide steering assistance together, one set of system can work to provide the steering assistance, and the other set of system can monitor and backup.
Disclosure of Invention
The application provides a steer-by-wire system and a vehicle.
According to a first aspect of the present application, a steer-by-wire system is provided, the system includes a three-phase motor, a six-phase motor and a steering execution module, the three-phase motor and the six-phase motor are both electrically connected to the steering execution module for outputting a driving force to the steering execution module, the six-phase motor is composed of a first three-phase winding and a second three-phase winding;
wherein the three-phase motor or the six-phase motor outputs driving force independently of each other, one of the three-phase motor or the six-phase motor is used as a main output, and the other is used as a backup output; or the three-phase motor and the six-phase motor output driving force together, a part of windings of the three-phase motor and the six-phase motor are used as main outputs, and the other part of windings of the six-phase motor are used as backup outputs;
the first three phases or the second three phases output driving forces independently of each other, one of the first three phases or the second three phases being a main output and the other being a backup output; or, the first three phases and the second three phases output driving force together, a part of windings of the first three phases and a part of windings of the second three phases are used as main outputs, and the other part of windings of the first three phases and the other part of windings of the second three phases are used as backup outputs.
Optionally, the three-phase motor is configured to have a maximum output power of 50% of a steering load of the entire vehicle, and the six-phase motor is configured to have a maximum output power of 100% of the steering load of the entire vehicle, wherein the first three-phase motor of the six-phase motor is configured to have a maximum output power of 50% of the steering load of the entire vehicle, and the six-phase motor is configured to have a maximum output power of 50% of the steering load of the entire vehicle.
Optionally, the system further includes a first steering driving module and a second steering driving module that are independent of each other, the first steering driving module is electrically connected to the three-phase motor and is configured to drive the three-phase motor to operate, and the second steering driving module is electrically connected to the six-phase motor and is configured to drive the six-phase motor to operate.
Optionally, the second steering driving module includes a first steering driving unit and a second steering driving unit that are independent of each other, the first steering driving unit is electrically connected to a first three-phase of the six-phase motor and is configured to drive the first three-phase to operate, and the second steering driving unit is electrically connected to a second three-phase of the six-phase motor and is configured to drive the second three-phase to operate.
Optionally, the first steering driving module includes a first controller and a first driving circuit, an input end of the first driving circuit is electrically connected to the first controller, and an output end of the first driving circuit is electrically connected to the three-phase motor;
the first steering driving unit comprises a second controller and a second driving circuit, the input end of the second driving circuit is electrically connected with the second controller, and the output end of the second driving circuit is electrically connected with the first three phases of the six-phase motor;
the second steering driving unit comprises a third controller and a third driving circuit, the input end of the third driving circuit is electrically connected with the third controller, and the output end of the third driving circuit is electrically connected with the second three phases of the six-phase motor.
Optionally, the input end of the second driving circuit is further electrically connected to the third controller, and the output end of the second driving circuit is further electrically connected to the second three-phase power;
the input end of the third driving circuit is also electrically connected with the second controller, and the output end of the third driving circuit is also electrically connected with the first three-phase circuit.
Optionally, the system further includes a first power board and a second power board independent of each other, the first driving circuit is disposed on one of the first power board and the second power board, and the second driving circuit and the third driving circuit are disposed on the other of the first power board and the second power board.
Optionally, the first power board and the second power board are disposed at an interval, and a heat dissipation device is disposed between the first power board and the second power board.
Optionally, the heat dissipation device is a water-cooled heat dissipation device, the water-cooled heat dissipation device includes a first interface, and the first interface is configured to be connected with an external thermal management system or a cooling system.
Optionally, any two of the first controller, the second controller, and the third controller are electrically connected to each other.
Optionally, any one of the first controller, the second controller, and the third controller is configured to obtain processing information of the other two controllers, check the first processing information, the second processing information, and the third processing information, and determine a faulty controller among the first controller, the second controller, and the third controller according to a check result;
the first processing information is processing information of the first controller, the second processing information is processing information of the second controller, and the third processing information is processing information of the third controller.
Optionally, the first controller, the second controller and the third controller are disposed on the same control board, and any two of the first controller, the second controller and the third controller communicate through a printed circuit board PCB hardwire.
Optionally, the system further includes a first power board and a second power board independent from each other, the first power board and the second power board are arranged in parallel and opposite to each other, the first power board is located on a side of the three-phase motor facing the six-phase motor, and the second power board is located on a side of the six-phase motor facing the three-phase motor;
the control panel covers in the same one side of three-phase motor, first power board, second power board with the six-phase motor, just the control panel with first power board with the second power board is all perpendicular.
Optionally, the system further includes a first flexible connecting member and a second flexible connecting member, the control board is electrically connected to the first power board through the first flexible connecting member, and the control board is electrically connected to the second power board through the second flexible connecting member.
Optionally, the first steering driving module and the second steering driving module are respectively powered by two independent power supplies; the first steering driving module and the second steering driving module are communicated through two mutually independent controller area network CAN communication units respectively.
According to a second aspect of the present application, there is provided a vehicle including the steer-by-wire system provided in the first aspect.
In the embodiment of the application, one layer of redundant backup is added through two three phases in a six-phase motor on the basis of a double redundant drive design in the related technology, so that the redundancy of steer-by-wire is improved, and the steering safety is higher. In addition, the three-phase motor and the six-phase motor are arranged, compared with three-phase motors, only two paths of driving force output are provided, so that one set of mechanical structure can be saved, the complexity of the mechanical structure in the steer-by-wire system is reduced, the space is saved, compared with a six-phase motor, the redundancy of the system is also improved, and the reliability of the steering system is optimized.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a schematic logical structure diagram of a steer-by-wire system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a driving principle of a steer-by-wire system according to an embodiment of the present disclosure;
FIG. 3 is a schematic cross-drive schematic diagram of a second steering drive module according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an interaction among a first controller, a second controller and a third controller provided in an embodiment of the present application;
fig. 5 is a schematic hardware structure diagram of a steer-by-wire system according to an embodiment of the present disclosure;
fig. 6 is a second schematic diagram of a hardware structure of a steer-by-wire system according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the application provides a line control steering system, including three-phase motor, six-phase motor and turn to the execution module, three-phase motor and six-phase motor all with turn to the execution module electricity and be connected, be used for to turn to execution module output drive power, six-phase motor comprises first three-phase and second three-phase winding.
In the embodiment of the application, the steer-by-wire system is designed with three redundant drives, namely a three-phase motor and a first three-phase and a second three-phase in a six-phase motor. Wherein, three-phase motor can be regarded as one redundant system, six-phase motor can be regarded as another redundant system. Furthermore, the first three phases of a six-phase machine can be considered as one redundant subsystem and the second three phases can be considered as another redundant subsystem. The specific structure of the steering executing module is not limited herein, for example, the steering executing module includes a speed reducing mechanism, a rack, and the like, which are not described herein again.
According to the triple-redundancy driving design in the embodiment of the application, one layer of redundancy backup is added through two three phases in the six-phase motor on the basis of the double-redundancy driving design in the related technology, the redundancy of steer-by-wire is improved, and the steering safety is higher. In addition, the three-phase motor and the six-phase motor are arranged, compared with three-phase motors, only two paths of driving force output are provided, so that one set of mechanical structure can be saved, the complexity of the mechanical structure in the steer-by-wire system is reduced, the space is saved, compared with a six-phase motor, the redundancy of the system is also improved, and the reliability of the steering system is optimized.
In specific implementation, the three-phase motor and the six-phase motor can output driving force based on different redundancy backup mechanisms.
In a redundant backup mechanism, three-phase motors or six-phase motors output driving forces independently of each other, with one of the three-phase motors or six-phase motors being the main output and the other being the backup output.
Under the mechanism, when the wire-controlled steering system works normally, only one of the three-phase motor or the six-phase motor is used as a main output to independently output the driving force to drive the steering execution module to realize steering, and the other motor is used as a backup output to monitor the main output in real time.
Under another redundancy backup mechanism, a three-phase motor and a six-phase motor output driving force together, a part of windings of the three-phase motor and the six-phase motor are used as main output, and the other part of windings of the six-phase motor are used as backup output.
Under the mechanism, when the line control steering system works normally, the three-phase motor and the six-phase motor output driving force together to drive the steering execution module to provide steering driving force. Specifically, the driving force may be output by a part of windings of the three-phase motor and the six-phase motor together, the part of windings of the six-phase motor may be regarded as main output windings of the six-phase motor, and the main output windings may be windings of a first three-phase, or windings of a second three-phase, or a part of the windings of the first three-phase, and another part of the windings of the second three-phase, which is not limited herein.
When the steer-by-wire system triggers a first fault condition, for example, when the three-phase motor fails, the system may switch to outputting drive power from both the primary and backup output windings of the six-phase motor, i.e., outputting drive power independently with full take-over by the six-phase motor. Alternatively, when the primary output winding of the six-phase motor fails, the system may switch to outputting the driving force by the backup output windings of the three-phase motor and the six-phase motor together.
Compared with the first redundancy backup mechanism, the second redundancy backup mechanism can avoid delay and instability caused by system switching, has lower perception degree of the user on backup switching, and can further improve steering safety and steering effect.
In the second redundant backup mechanism, the magnitude or the ratio of the driving forces output by the three-phase motor and the six-phase motor respectively is not limited, and may be determined according to actual conditions. For example, the three-phase motor and the six-phase motor may output 50% of the steering driving force, respectively. When the three-phase motor and the six-phase motor are selected, the selection can be determined according to a specific redundancy backup mechanism and the required steering driving force, and is not limited herein.
When some or all of the windings of the six-phase motor need to output driving force, the first three-phase motor and the second three-phase motor in the six-phase motor may also output driving force based on different redundancy backup mechanisms.
In a redundant backup scheme, a first or second three phase outputs driving force independently of each other, one of the first or second three phase serves as a main output, and the other serves as a backup output.
Under the mechanism, when the steer-by-wire system works normally, the driving force output by the six-phase motor can be independently output by only one of the first three phase or the second three phase as a main output, and the other one of the first three phase or the second three phase as a backup output to monitor the main output in real time.
In another redundancy backup mechanism, the first three phases and the second three phases output driving force together, a part of windings of the first three phases and a part of windings of the second three phases are used as main outputs, and the other part of windings of the first three phases and the other part of windings of the second three phases are used as backup outputs.
Under the mechanism, when the wire-controlled steering system works normally, the first three phases and the second three phases output driving force together. Specifically, a part of the windings of the first three phases and a part of the windings of the second three phases may be used together to output the driving force, and the part of the windings may be regarded as main output windings.
When the steer-by-wire system triggers a second fault condition, for example, when the primary output winding of the first three phases fails, the system may switch to the primary output winding and the backup output winding of the second three phases to jointly output drive power, i.e., to be fully taken over by the second three phases and to output drive power independently. Or when the main output windings of the second three phases fail, the system can be switched to the main output windings and the backup output windings of the first three phases to jointly output the driving force, namely the driving force is completely taken over by the first three phases and is independently output. Alternatively, when the main output windings of the first three phases and the main output windings of the second three phases both fail, the system may switch to output the driving force by the backup output windings of the first three phases and the backup output windings of the second three phases in common.
In an optional embodiment, when the three-phase motor and the six-phase motor are subjected to model selection, the maximum output power of the three-phase motor can be subjected to model selection according to 50% of the steering load of the whole vehicle, and the maximum output power of the six-phase motor can be subjected to model selection according to 100% of the steering load of the whole vehicle, wherein the first three phases of the six-phase motor can be configured to have the maximum output power of 50% of the steering load of the whole vehicle, and the second three phases of the six-phase motor can be configured to have the maximum output power of 50% of the steering load of the whole vehicle, so that the sum of the maximum output powers required by the steer-by-wire system is 150% of the steering load of the whole vehicle, and the cost is lower on the premise of adding a layer of redundancy. In addition, the minimum driving capacity of the system can be kept 50% of the steering load of the whole vehicle, so that the intelligent driving system can be supported to stop at the side or conditionally drive to a safe area. For convenience of understanding, the redundant backup method of the present embodiment will be described as an example.
In this embodiment, when the wire-controlled steering system is operating normally, the three-phase motor provides 50% of the steering driving force at 100% of the maximum output power, the six-phase motor provides the other 50% of the steering driving force at 50% of the maximum output power, and the six-phase motor uses the other 50% of the maximum output power as the redundant backup. The first three phases of the six-phase motor provide 25% of the steering driving force at 50% of the maximum output power, and the first three phases of the six-phase motor serve as redundancy backup at the other 50% of the maximum output power; the first three phases of the six-phase motor provide 25% of the steering driving force at 50% of the maximum output power, and the second three phases of the six-phase motor provide the other 50% of the maximum output power as a redundant backup.
In this embodiment, the steer-by-wire system may further include a steering driving module corresponding to the three-phase motor and the six-phase motor, respectively. Optionally, in the steer-by-wire system, independent steer driving modules may be respectively designed for the three-phase motor and the six-phase motor, and are referred to as a first steer driving module and a second steer driving module, so that the two redundant systems are independent from each other, and the interference influence between the two redundant systems is reduced. The first steering driving module can be electrically connected with the three-phase motor and used for driving the three-phase motor to work, and the second steering driving module is electrically connected with the six-phase motor and used for driving the six-phase motor to work. Further alternatively, in the steer-by-wire system, independent steering drive units may be respectively designed for two three phases of the six-phase motor, in other words, the second steering drive module may include a first steering drive unit and a second steering drive unit which are independent with respect to each other, so that two redundant subsystems of the six-phase motor are independent from each other, and the interference effect between the two redundant subsystems is reduced. The first steering driving unit is electrically connected with a first three-phase of the six-phase motor and used for driving a first three-phase to work, and the second steering driving unit is electrically connected with a second three-phase of the six-phase motor and used for driving a second three-phase to work.
In an alternative embodiment, the steer-by-wire system may be as shown in fig. 1, the steer-by-wire system comprising a first steer-drive module 1 and a second steer-drive module 2. The first steering driving module 1 includes a first controller 11 and a first driving circuit 12, an input end of the first driving circuit 12 is electrically connected to the first controller 11, and an output end of the first driving circuit is electrically connected to the three-phase motor 3. The second steering drive module 2 comprises a first steering drive unit 21 and a second steering drive unit 22. The first steering driving unit 21 includes a second controller 211 and a second driving circuit 212, an input terminal of the second driving circuit 212 is electrically connected to the second controller 211, an output terminal of the second driving circuit 212 is electrically connected to the first three-phase 41, an input terminal of a third driving circuit 222 is electrically connected to the third controller 221, and an output terminal of the third driving circuit 222 is electrically connected to the second three-phase 42.
In the present embodiment, as shown in fig. 2, the first controller 11 may control the first driving circuit 12 to drive the three-phase motor 3 so that the three-phase motor 3 provides 50% of the steering driving force. The second controller 211 may control the second drive circuit 212 to drive the first three phases 41 so that the first three phases 41 provide 25% of the steering drive force. The third controller 221 may control the third driving circuit 222 to drive the second three phases 42 such that the second three phases provide 25% of the steering driving force.
In an alternative embodiment, the input terminal of the second driving circuit 212 is further electrically connected to the third controller 221, and the output terminal of the second driving circuit 212 is further electrically connected to the second three-phase 42; the input terminal of the third driving circuit 222 is further electrically connected to the second controller 211, and the output terminal of the third driving circuit 222 is further electrically connected to the first three phases 41. In this embodiment, the input and output of the second driving circuit 212 and the third driving circuit 222, which are responsible for the six-phase motor, are all cross-connected, so that the six-phase motor can be controlled to provide 50% of steering driving force for the system even when one of the second controller 211, the second driving circuit 212, the third controller 221 and the third driving circuit 222 fails at a single point, and the reliability of system redundancy backup is further improved.
For ease of understanding, the following are exemplified herein: as shown in fig. 3, when the line between the first input terminal a1 of the second driving circuit 212 and the second controller 211 is disconnected, the first three phases 41 can be controlled to operate normally through the paths of the third controller 221, the second input terminal a2, the second driving circuit 212, and the first output terminal b 1. Alternatively, when the line between the first output terminal b1 of the second driving circuit 212 and the first three phases 41 is disconnected, the first three phases 41 can be controlled to operate normally through the paths of the second controller 211, the third input terminal c1, the third driving circuit 222, and the third output terminal d 1.
It should be noted that the first controller 11, the second controller 211, and the third controller 221 may each include a Micro Controller Unit (MCU). Alternatively, as shown in fig. 4, any two of the first controller 11, the second controller 211, and the third controller 221 are electrically connected to each other to achieve mutual communication. In a specific embodiment, the first controller 11, the second controller 211, and the third controller 221 may all perform calculation according to the received signals to obtain processing information, where the content of the processing information is not limited herein, and for convenience of description, the processing information corresponding to the first controller 11, the second controller 211, and the third controller 221 is referred to as first processing information, second processing information, and third processing information. Any one of the first controller 11, the second controller 211 and the third controller 221 can obtain the processing information of the other two, check the first processing information, the second processing information and the third processing information, and determine a fault controller in the first controller 11, the second controller 211 and the third controller 221 according to the check result, so that when a fault occurs, which redundant system or redundant subsystem is in fault can be quickly determined, and a relevant strategy of redundant backup is executed, so that the response speed and accuracy of the steer-by-wire system to the fault are improved, and the safety of the whole vehicle during steering is further improved. It should be noted that the faulty controller is not limited to indicate that the first controller, the second controller, or the third controller is faulty, but may also indicate that a driving line controlled by the first controller, the second controller, or the third controller correspondingly is faulty, for example, a driving circuit is faulty, or a motor is faulty.
For ease of understanding, the following are exemplified herein: the first controller 11, the second controller 211 and the third controller 221 may each receive a signal from a Hand Wheel Actuator (HWA), a Front Wheel Actuator (FWA) or other modules, such as an automatic driving module, for example, a signal from the HWA, and when a driver manipulates the steering Wheel to steer, a steering Wheel sensor may collect steering intention and transmit the steering intention to the first controller 11, the second controller 211 and the third controller 221 through digital signals, and the first controller 11, the second controller 211 and the third controller 221 may each calculate a value of a steering Wheel angle. Taking the first controller 11 as an example, the first controller 11 may acquire two values of the steering wheel angle calculated by the second controller 211 and the third controller 221, respectively, and compare them with the value of the steering wheel angle calculated by itself. In one example, if the values of the steering wheel angles calculated by the first controller 11 and the second controller 211 are close and within the error allowable range, and the value of the steering wheel angle calculated by the third controller 221 is different from the two values by a large amount, it may be determined that the third controller 221 is a faulty controller, and the corresponding drive line may be faulty, so that it may be switched to the steering drive performed by the corresponding drive lines of the first controller 11 and the second controller 211, that is, the steering drive force is provided by the first three-phase 41 of the three-phase motor 3 and the six-phase motor 4.
In the embodiment of the application, the first controller, the second controller and the third controller can be arranged on the same control Board, so that the first controller, the second controller and the third controller can communicate with each other based on a Printed Circuit Board (PCB) hard wire, the communication speed is higher, an additional external wire harness is not needed, and the internal structure of the steer-by-wire system is simplified. It is understood that, in other embodiments, the first controller, the second controller and the third controller may be disposed on three independent control boards, or the first controller may be disposed on one control board and the second controller and the third controller may be disposed on another control board, which may be determined according to actual circumstances and is not limited herein.
The driving circuits for driving the three-phase motor and the six-phase motor can be respectively arranged on different power boards, in other words, the first driving circuit can be arranged on one power board and is marked as the first power board, the second driving circuit and the third driving circuit can be arranged on the other power board and is marked as the second power board, so that the driving part of the three-phase motor and the driving part of the six-phase motor are mutually independent, and isolation is formed on a physical structure, so that the phenomenon that large current and high power are concentrated and interfere with each other to influence the driving efficiency is avoided. In addition, the situation that the driving part of the three-phase motor and the driving part of the six-phase motor have common cause failure due to hardware can be avoided, for example, if the driving part of the three-phase motor and the driving part of the six-phase motor are arranged on the same power board, when a certain point of the power board fails, the failure may simultaneously affect the driving part of the three-phase motor and the driving part of the six-phase motor, so that the three-phase motor and the six-phase motor simultaneously fail, and if the driving part of the three-phase motor and the driving part of the six-phase motor are arranged on different power boards, the probability that the three-phase motor and the six-phase motor simultaneously fail is reduced, so that the reliability of redundant backup of the steer-by-wire system is improved.
In an alternative embodiment, as shown in fig. 5, the first power board 61 and the second power board 62 may be disposed at a distance, so as to dispose the heat dissipation device 8 between the first power board 61 and the second power board 62. In this embodiment, since the first power board 61 and the second power board 62 are both high-power devices, heat generated in the working process can be dissipated through the heat dissipation device 8, so as to avoid the influence of the local over-high temperature on the working efficiency of the electric device.
In specific implementation, the heat dissipation device may be a metal heat dissipation device or a water-cooling heat dissipation device. When the heat dissipation device is a water-cooling heat dissipation device, the heat dissipation device 8 may be combined with an external thermal management system or a cooling system, where the external thermal management system or the cooling system is a thermal management system or a cooling system that is independent of the components of the steer-by-wire system provided in the embodiment of the present application, and may be a thermal management system or a cooling system of the entire vehicle. Specifically, the heat sink device may include a first interface, and the first interface may be configured to be connected to an external thermal management system or a cooling system, for example, the heat sink device may include a first water cooling pipe, the first water cooling pipe includes the above first interface, the first interface may include two closed ports, i.e., a water inlet and a water outlet, through which the first water cooling pipe may be communicated with the water cooling pipe of the external thermal management system or the cooling system, and further, the thermal management system or the cooling system may control the heat dissipation efficiency by controlling the flow rate of the cooling liquid in the water cooling pipe based on the collected temperature information.
It should be noted that, because a layer of redundancy backup is added on the basis of the dual redundancy design, the number of internal components of the steer-by-wire system is increased, the occupied space is correspondingly increased, and in order to reduce the occupied space of the steer-by-wire system, the spatial arrangement of the above structures can be further optimized.
In an alternative embodiment, as shown in fig. 5, the three-phase motor 3 is disposed at a distance from the six-phase motor 4, the first power board 61 is disposed on a side of the three-phase motor 3 facing the six-phase motor 23, and the second power board 62 is disposed on a side of the six-phase motor 4 facing the three-phase motor 3. The first power board 61 and the second power board 62 may be disposed in parallel, and the heat sink 8 is disposed between the first power board 61 and the second power board 62. The control board 5 covers the same side of the three-phase motor 3, the first power board 61, the six-phase motor 4 and the second power board 62, and the control board 5 is perpendicular to the first power board 61 and the second power board 62. It is understood that, in other embodiments, it is also possible that the control board 5 is approximately perpendicular to the first power board 61 and the second power board 62, for example, the control board 5 is at an angle of 80 ° to 90 ° with respect to the first power board 61 and the second power board 62, which can be determined according to practical situations and is not limited herein.
In this embodiment, the structure of the steer-by-wire system can be made more compact and the occupied space is smaller by the optimization on the spatial layout. In a specific implementation, the control board 5 may be divided into a first area L1 and a second area L2, the first area L1 is used for setting the first controller 11, the second area L2 is used for setting the second controller 211, and the first area L1 and the second area L2 communicate with each other based on a PCB hardwire of the control board 5. In addition, in order to reduce the external wiring harness, the steer-by-wire system may further include a first flexible connector 71 and a second flexible connector 72, and the first power board 61 and the control board 5 may be electrically connected by the first flexible connector 71, and the second power board 62 and the control board 5 may be electrically connected by the second flexible connector 72.
It should be noted that, in the embodiment of the present application, the first steering driving module 1 and the second steering driving module 2 may be respectively powered by two independent power supplies, so that power supplies of two redundant systems are not affected by each other, and reliability of redundant backup of the steer-by-wire system is improved. It should be noted that the power supply may be a power supply independent from the steer-by-wire system.
Specifically, as shown in fig. 6, the entire vehicle may include a first power source 91 and a second power source 92, the first power source 91 may be electrically connected to the three-phase motor 3 and the first power board 61, and the second power source 92 may be electrically connected to the six-phase motor 4 and the second power board 62.
The first steering driving module 1 and the second steering driving module 2 CAN also perform external communication through two independent Controller Area Network (CAN) communication units, so as to improve the reliability of redundancy backup of the steer-by-wire system. Specifically, the whole vehicle CAN further comprise a first CAN communication unit and a second CAN communication unit, the first controller is electrically connected with the first CAN communication unit to communicate with the outside based on the first CAN communication unit, and the second controller and the third controller are electrically connected with the second CAN communication unit to communicate with the outside based on the second CAN communication unit.
In a specific implementation, as shown in fig. 6, three connectors e1, e2, and e3 may be respectively disposed in a first area of the control board 5, where the first area is used for disposing a first controller, and are respectively used for electrically connecting to signal terminals of a complete vehicle CAN, a steering private CAN, and a Safety Assistance System (SAS). A second area of the control board 5 for carrying the second controller and the third controller may also be respectively provided with three connectors e4, e5, and e6, which are respectively used for electrically connecting with signal terminals of a complete vehicle CAN, a steering private CAN, and a Safety Assistance System (SAS). The first area and the second area CAN communicate based on a PCB hard line on the Control panel 5, the data transmission rate is higher, and connectors and wiring harnesses of a private CAN between independent Electronic Control Units (ECU) corresponding to two redundant systems CAN be saved.
The embodiment of the application also provides a vehicle, which comprises the steer-by-wire system provided by the embodiment of the application. It should be noted that the embodiment of the steer-by-wire system is also applicable to the embodiment of the vehicle, and can achieve the same technical effect, and the details are not repeated herein.
It should be noted that, various optional implementations described in the embodiments of the present application may be implemented in combination with each other or separately, and the embodiments of the present application are not limited thereto.
In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present application. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified. While the foregoing is directed to the preferred embodiment of the present application, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the principles of the disclosure and, therefore, the scope of the disclosure is to be defined by the appended claims.
Claims (16)
1. The wire-controlled steering system is characterized by comprising a three-phase motor, a six-phase motor and a steering execution module, wherein the three-phase motor and the six-phase motor are electrically connected with the steering execution module and used for outputting driving force to the steering execution module;
wherein the three-phase motor or the six-phase motor outputs driving force independently of each other, one of the three-phase motor or the six-phase motor is used as a main output, and the other is used as a backup output; or the three-phase motor and the six-phase motor output driving force together, a part of windings of the three-phase motor and the six-phase motor are used as main outputs, and the other part of windings of the six-phase motor are used as backup outputs;
the first three phases or the second three phases output driving forces independently of each other, one of the first three phases or the second three phases being a main output and the other being a backup output; or, the first three phases and the second three phases output driving force together, a part of windings of the first three phases and a part of windings of the second three phases are used as main outputs, and the other part of windings of the first three phases and the other part of windings of the second three phases are used as backup outputs.
2. The system of claim 1, wherein the three-phase motor is configured to have a maximum output power of 50% of a steering load of the entire vehicle and the six-phase motor is configured to have a maximum output power of 100% of the steering load of the entire vehicle, wherein the first three-phase of the six-phase motor is configured to have a maximum output power of 50% of the steering load of the entire vehicle and the six-phase motor is configured to have a maximum output power of 50% of the steering load of the entire vehicle.
3. The system according to claim 1 or 2, further comprising a first steering driving module and a second steering driving module independent from each other, wherein the first steering driving module is electrically connected to the three-phase motor for driving the three-phase motor to operate, and the second steering driving module is electrically connected to the six-phase motor for driving the six-phase motor to operate.
4. The system of claim 3, wherein the second steering drive module comprises a first steering drive unit and a second steering drive unit independent of each other, the first steering drive unit being electrically connected to a first three-phase of the six-phase motor for driving the first three-phase operation, and the second steering drive unit being electrically connected to a second three-phase of the six-phase motor for driving the second three-phase operation.
5. The system of claim 4, wherein the first steering drive module comprises a first controller and a first drive circuit, an input of the first drive circuit being electrically connected to the first controller, an output of the first drive circuit being electrically connected to the three-phase motor;
the first steering driving unit comprises a second controller and a second driving circuit, the input end of the second driving circuit is electrically connected with the second controller, and the output end of the second driving circuit is electrically connected with the first three phases of the six-phase motor;
the second steering driving unit comprises a third controller and a third driving circuit, the input end of the third driving circuit is electrically connected with the third controller, and the output end of the third driving circuit is electrically connected with the second three phases of the six-phase motor.
6. The system of claim 5, wherein the input of the second drive circuit is further electrically connected to the third controller, and the output of the second drive circuit is further electrically connected to the second three-phase;
the input end of the third driving circuit is also electrically connected with the second controller, and the output end of the third driving circuit is also electrically connected with the first three-phase circuit.
7. The system of claim 5, further comprising a first power board and a second power board independent of each other, the first driver circuit being disposed on one of the first power board and the second power board, the second driver circuit and the third driver circuit being disposed on the other of the first power board and the second power board.
8. The system of claim 7, wherein the first power board is spaced apart from the second power board, and a heat sink is disposed between the first power board and the second power board.
9. The system of claim 8, wherein the heat dissipation device is a water-cooled heat dissipation device comprising a first interface configured to connect with an external thermal management system or cooling system.
10. The system of claim 5, wherein any two of the first controller, the second controller, and the third controller are electrically connected to each other.
11. The system according to claim 10, wherein any one of the first controller, the second controller and the third controller is configured to obtain processing information of the other two controllers, verify the first processing information, the second processing information and the third processing information, and determine a faulty controller among the first controller, the second controller and the third controller according to a verification result;
the first processing information is processing information of the first controller, the second processing information is processing information of the second controller, and the third processing information is processing information of the third controller.
12. The system of claim 10, wherein the first controller, the second controller, and the third controller are disposed on a same control board, any two of the first controller, the second controller, and the third controller communicating through Printed Circuit Board (PCB) hardwiring.
13. The system of claim 12, further comprising a first power board and a second power board independent from each other, the first power board being disposed in parallel with and opposite to the second power board, the first power board being located on a side of the three-phase motor facing the six-phase motor, the second power board being located on a side of the six-phase motor facing the three-phase motor;
the control panel covers in the same one side of three-phase motor, first power board, second power board with the six-phase motor, just the control panel with first power board with the second power board is all perpendicular.
14. The system of claim 13, further comprising a first flexible connector and a second flexible connector, wherein the control board is electrically connected to the first power board via the first flexible connector, and wherein the control board is electrically connected to the second power board via the second flexible connector.
15. The system of claim 3, wherein the first steering driving module and the second steering driving module are respectively powered by two independent power sources; the first steering driving module and the second steering driving module are communicated through two mutually independent controller area network CAN communication units respectively.
16. A vehicle characterized by comprising the steer-by-wire system according to any one of claims 1 to 15.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210592244.8A CN114889690A (en) | 2022-05-27 | 2022-05-27 | Steer-by-wire system and vehicle |
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| CN202210592244.8A CN114889690A (en) | 2022-05-27 | 2022-05-27 | Steer-by-wire system and vehicle |
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Application publication date: 20220812 |