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

A kind of remaining controller circuitry for double remaining turning machines Download PDF

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Publication number
CN106020078B
CN106020078B CN201610342000.9A CN201610342000A CN106020078B CN 106020078 B CN106020078 B CN 106020078B CN 201610342000 A CN201610342000 A CN 201610342000A CN 106020078 B CN106020078 B CN 106020078B
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China
Prior art keywords
controller
sub
interface
power
remaining
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CN106020078A (en
Inventor
连小珉
蔡智凯
王通
陈曦
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Tsinghua University
Suzhou Automotive Research Institute of Tsinghua University
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Tsinghua University
Suzhou Automotive Research Institute of Tsinghua University
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048Monitoring; Safety
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457Power-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
    • B62D5/0481Power-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
    • B62D5/0493Power-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 processor errors, e.g. plausibility of steering direction

Abstract

The present invention relates to a kind of remaining controller circuitrys for double remaining turning machines, belong to auto electric control technology field, which is made of the first, second, and third sub-controller;Wherein, first, second sub-controller composed structure is identical, the motor all the way being respectively used in control remaining turning machine, and mutually monitors, the motor that the control of other side's sub-controller is cut off when other side's motor or sub-controller break down makes double remaining turning machines enter single remaining operating mode;Third sub-controller is simultaneously monitored the first, second sub-controller, and can cut off transmission signal of the sub-controller to another sub-controller when a sub-controller breaks down, and avoids accidentally cutting off caused by the way controller failure;Three sub-controllers pass network by remaining line and carry out communication and monitoring mutually.The circuit can effectively drive double remaining turning machines to pass online in steering and complete normal steering operation, ensure the security reliability of steering under the premise of completing turning function.

Description

A kind of remaining controller circuitry for double remaining turning machines
Technical field
The invention belongs to auto electric control technology field, more particularly to a kind of controller electricity for double remaining turning machines Road.
Background technology
Compared with traditional mechanical steering system, the machinery eliminated between steering wheel and turning machine connects steer-by-wire system It connects, is transmitted by electric signal and turn to and return positive signal.This change makes the control stability of automobile steering system, passive security Property and the comfort of driving are improved.But since the reliability of electronic component in steer-by-wire system is not so good as traditional machine Tool turns to, in online biography steering often by the way of double remainings or more redundance so that steering is in single event It remains to work normally under barrier, to improve the security reliability of steer-by-wire system.
Double remaining turning machines are to be responsible for executing the mechanism for making turning function in double remaining steer-by-wire systems, by two electricity Machine is engaged by gear and steering gear is driven to carry out steering operation as power source.Disclosed patent (Shen is applied in the applicant It please publication number CN105313954A)《A kind of double drive steering mechanism for steer-by-wire》In describe a kind of double remainings and turn to The structure of machine.In double remaining turning machines, since two motor status are identical, when motor driving is broken down all the way, system It is required that detecting failure and faulty channel being isolated, to ensure that steering remains to be normally carried out.To ensure the reliable of turning function Property, double remaining turning machine needs are controlled by remaining controller.
In the prior art of the controller controlled double remaining turning machines, the single control of non-remaining is often used Device or dual controller add the scheme of central controller.Such controller is under Single Controller or central controller failure It can not ensure the realization of system function and the steering safety of driver, it is insufficient to being ensured of for turning function reliability.
Invention content
The present invention is to overcome the shortcoming of prior art, proposes a kind of remaining controller electricity for double remaining turning machines Road can effectively drive double remaining turning machines to pass online in steering and complete normal steering operation;Meanwhile it completing to turn to Ensure the security reliability of steering under the premise of function.
A kind of remaining controller circuitry for double remaining turning machines, which is characterized in that the circuit by the first sub-controller, Second sub-controller and third sub-controller are constituted;Wherein, the first sub-controller is identical as the second sub-controller composed structure, point The motor all the way in remaining turning machine Yong Yu not be controlled, and is monitored mutually, is cut when other side's sub-controller breaks down The roads Duan Gai motor makes double remaining turning machines enter single remaining operating mode;Third sub-controller simultaneously to the first sub-controller and Second sub-controller is monitored, and can cut off the sub-controller to another sub-controller when a sub-controller breaks down Transmission signal, to avoid caused by the way controller failure accidentally cut off, ensure steer-by-wire system normally work;Three A sub-controller passes network by the remaining line being made of FlexRay buses and CAN bus and carries out communication and monitoring mutually.
Remaining controller circuitry proposed by the present invention be used for remaining steer-by-wire system double remaining turning machines, with Lower feature:
1, it can effectively drive double remaining turning machines to pass online in steering and complete normal steering operation;
2, when any single failure occurs for remaining controller, effective fault diagnosis between three sub-controllers can be passed through Steer-by-wire system is set to continue trouble free service with isolation mech isolation test;
3, remaining controller and remaining steering wheel, remaining turning machine, remaining power supply, remaining line pass network and collectively constitute remaining Steer-by-wire system can ensure line when controlling double remaining turning machines under the premise of efficiently completing turning function Pass the security reliability of steering;
Description of the drawings
Fig. 1 is the remaining controller integrated circuit structural schematic diagram of the present invention.
Fig. 2 be the present invention remaining controller circuitry in the first sub-controller electrical block diagram.
Fig. 3 is the electrical block diagram of the third sub-controller in the remaining controller circuitry of the present invention.
Fig. 4 be the present invention remaining controller circuitry in Fault Isolation module embodiment electrical block diagram.
Specific implementation mode
A kind of remaining controller circuitry combination accompanying drawings and embodiments explanation for double remaining turning machines proposed by the present invention It is as follows:
The composed structure of remaining controller circuitry for double remaining turning machines proposed by the present invention a kind of as shown in Figure 1, The circuit is made of the first sub-controller, the second sub-controller and third sub-controller;Wherein, the first sub-controller and the second son Controller composed structure is identical, the motor all the way being respectively used in control remaining turning machine, and mutually monitors, when other side's motor Or the motor of sub-controller cut-out other side's sub-controller control when breaking down, so that double remaining turning machines is entered single remaining Working mould Formula;Third sub-controller is simultaneously monitored the first sub-controller and the second sub-controller, and can go out in a sub-controller Transmission signal of the sub-controller to another sub-controller is cut off when existing failure, is avoided caused by the way controller failure accidentally Cut-out ensures that steer-by-wire system normally works;Three sub-controllers pass through by FlexRay buses (novel on-vehicle network mark It is accurate) it passes network with the remaining line that CAN bus (controller local area network) is constituted and carries out communication and monitoring mutually.
In the remaining controller circuitry, the first sub-controller is equipped with 5 external interfaces:Motor interface PM1, power power-supply Interface PP11, digital power interface PP12, rotary angle transmitter interface PAS1, communication interface PC1And 2 internal interface P12、P13;Second Sub-controller is equipped with 5 external interfaces:Motor interface PM2, power power-supply interface PP21, digital power interface PP22, rotary angle transmitter Interface PAS2, communication interface PC2And 2 internal interface P21、P23;Third sub-controller is equipped with 1 external interface, that is, communication interface PC3And 2 internal interface P31、P32;Wherein, three sub-controllers pass through communication interface P respectivelyC1、PC2And PC3Outside access Remaining line passes network;First, second sub-controller passes through motor interface PM1、PM2It is connected with the motor respectively controlled, passes through respectively Power power-supply interface PP11And PP21, digital power interface PP12And PP22Connection is external by more than power power-supply and digital electric power generating composition Power supply is spent, rotary angle transmitter interface P is passed throughAS1、PAS2It is connected with external rotary angle transmitter;Between first, second sub-controller Pass through internal interface P12、P21It interconnects, passes through internal interface P between first, third sub-controller31、P13It interconnects, the Two, pass through internal interface P between third sub-controller23、P32It interconnects.
The specific composition combination attached drawing of each sub-controller of the present invention is respectively described below:
It is identical in the circuit of the first, second sub-controller driven to motor composition in the present embodiment, with the first son It is described as follows for the circuit of controller:The circuit structure of first sub-controller is as shown in Fig. 2, include mainly microcontroller E And its (peripheral circuit refers to the attached minimum circuit of microcontroller, such as crystal oscillator to peripheral circuit, is conventional electronics member device Part), power module P1And P2, by CAN corner transceivers CSIt is received and dispatched with the message processing module of current sensor CS compositions, by CAN The communication module of device C and FlexRay transceiver F compositions is driven by the motor that Fault Isolation module B and H bridge driving circuit D is constituted Module, 5 external interfaces and 2 internal interfaces;The connection relation of above-mentioned each electronic component is:Microcontroller E and communication mould CAN transceiver C in the block connected with FlexRay transceivers F after by communication interface PC1It is respectively connected to external remaining line and passes network In CAN bus and FlexRay buses, and pass through internal interface P12To the second sub-controller transmission signal s12;Microcontroller E is logical Cross the CAN corner transceivers C in message processing moduleSWith rotary angle transmitter interface PAS1Connection, and pass through its internal A/D mould Block acquires current sensor CS through motor interface PM1The motor current signal u measuredi;Power power-supply interface PP11Pass through Power Groud GND1, power power-supply VBAT are connect with H bridge driving circuits D, the Fault Isolation module B in motor drive module respectively, the driving of H bridges One end of circuit D passes through current sensor CS, motor interface PM1With the positive Motor of motor+It is connected, H bridge driving circuits D's is another One end passes through motor interface PM1With the cathode Motor of motor-It is connected, H bridge driving circuits D obtains the drive signal INH of microcontroller E And control signal PWM, Fault Isolation module B pass through internal interface P12、P13The second sub-controller is obtained respectively to the first son control The signal s that device is sent out21, the signal s that is sent out to the first sub-controller of third sub-controller31;Digital power interface PP12It obtains 12V digital powers and digitally GND, wherein 12V digital powers connected by fuse f after respectively with rotary angle transmitter interface PAS1And internal interface P13It is connected, then turns 5V power modules P by 12V successively1Communication module and message processing module are given afterwards CAN corner transceivers are powered, and 5V power supplys turn 3.3V power modules P through 5V again2To microcontroller E power, digitally GND respectively with turn Angle transducer interface PAS1And internal interface P13It is connected, altogether with microcontroller E.Digitally pass through 0 Ω between GND and Power Groud GND Resistance is connected.
The third sub-controller of the present embodiment and the difference of the first, second sub-controller are to eliminate first, second Motor drive module, message processing module in sub-controller and its corresponding external interface, the specific structure is shown in FIG. 3, Third sub-controller includes that (peripheral circuit refers to the attached minimum circuit of microcontroller, such as crystal oscillator for microcontroller E and its peripheral circuit Deng being conventional electronic component), the communication module being made of CAN transceiver C and FlexRay transceiver F, power module P1And P2, communication interface PC3And internal interface P31And P32;Wherein, communication interface PC3The CAN for connecting remaining line biography network is total Line and FlexRay buses, and by CAN transceiver C, FlexRay transceiver F and microcontroller E into the reception and transmission of row information; Via P31、P32The 12V digital powers that two internal interfaces input respectively are in third sub-controller by fuse f1And f2And Turn 5V power modules P through 12V after connection1To CAN transceiver C, the FlexRay transceiver F power supply in communication module, after turn through 5V 3.3V power modules P2It powers for microcontroller E;Microcontroller E passes through internal interface P31To the first sub-controller output signal s31, it is logical Cross internal interface P32To the second sub-controller output signal s32
It is as follows to the specific implementation mode of each device of the first sub-controller and function declaration in the present embodiment in conjunction with attached drawing:
CAN transceiver C, FlexRay transceiver F in the communication module passes through communication interface PC1It is respectively connected to remaining line CAN bus, the FlexRay buses in network are passed, microcontroller passes net by CAN transceiver C, FlexRay transceiver F and remaining line Transmitting-receiving of the network into row information;
CAN corner transceivers C in described information processing moduleSIt receives from rotary angle transmitter interface PAS1The corner measured Signal, microcontroller carry out data processing to above-mentioned angular signal;Current sensor CS in message processing module by with motor The connected motor interface P in both endsM1Measure motor current signal ui, the signal is after the acquisition of the A/D modules of microcontroller by microcontroller It obtains;The current sensor that the present embodiment uses is Hall-type current sensor;
The H bridge driving circuit D of the present embodiment are made of two pieces of half-bridge driven chips and its peripheral circuit, for receiving monolithic The drive signal INH and control signal PWM, driving motor of machine E executes steering operation;
The Fault Isolation module B of the present embodiment is used to control the break-make of motor power, mainly by digital gating circuit Opp (NOT gate) and Or (or door), flash driving chip s1And pull down resistor R compositions, as shown in Figure 4;The work of Fault Isolation module B It is as principle:The signal s transmitted from third sub-controller to the first sub-controller31It is followed by pull down resistor R by NOT gate Opp, then With from the second sub-controller to the signal s of the first word controlling transmission21Common process or door Or, output signal is by flash driving chip s1Input terminal obtain;Wherein, the pull down resistor R act as keeping under its pin normal condition be low level.The event Barrier isolation module B's act as:When the first, second sub-controller works normally, second sub-controller pair the first son control The signal s of device21With the signal s of the first sub-controller of third sub-controller pair31Be high level or door Or output ends it is high-end It is flat, keep Fault Isolation module B normal opens, electric current i1Flow direction motor M1Channel conductive, motor normal work;And when first or the When two sub-controllers break down, on the one hand Fault Isolation module B receives the signal s of the second sub-controller21, in the first son control It can be made to low level saltus step by high level by the signal when device failure or door Or output ends are low level, to isolation first Sub-controller controls it driving of motor;On the other hand the signal s of third sub-controller is received31, in the event of the second sub-controller When barrier by the signal by high level to low level saltus step, make or door Or output ends be always high level, to isolation second The mistake of the first sub-controller of sub-controller pair is cut off.
The power module of the present embodiment is made of two pieces of DC-DC voltage conversion chips and its peripheral circuit, i.e. 12V turns 5V electricity Source module P1Turn 3.3V power modules P with 5V2, the peripheral circuit refers to some conventional circuits compositions such as capacitance;Power supply mould The operation principle of block is:From digital power interface PP12With power power-supply interface PP11The digital power and 12V of input 12V respectively Power power-supply VBAT;The 12V digital powers of input, by concatenated fuse f, through rotary angle transmitter interface PAS1Directly to turn Angle transducer is powered, and turns 5V power modules P through 12V1The communication module and message processing module of first sub-controller are given afterwards CAN corner transceivers are powered, and turn 3.3V power modules P using 5V2It is the microcontroller E power supplies in the first sub-controller afterwards;12V The connector that is connected by copper sheet of power power-supply connect the positive Motor+ and cathode Motor- of brushed DC motor, and pass through Motor interface PM1Motor is powered;
The internal interface of the first sub-controller is P in the present embodiment12And P13, effect be respectively:Internal interface P12For Transmit the signal s that microcontroller E is sent to the second sub-controller in the first sub-controller12And second sub-controller to first son control The signal s that Fault Isolation module B is sent in device21;Internal interface P13Third sub-controller is used for transmission into the first sub-controller The signal s that Fault Isolation module B is sent31And first sub-controller pass through digital power interface PP12It is provided to third sub-controller 12V digital powers and digitally GND.
The remaining controller circuitry of the present embodiment is distinguished in normal work by the first sub-controller and the second sub-controller The motor all the way of the double remaining turning machines of driving, to which the double remaining turning machines of driving normally execute turning function.Three when normal work A sub-controller is in the working condition mutually monitored.When single failure occurs for the first sub-controller or the motor of its control, the Two sub-controllers can detect the failure, and pass through signal s21The power supply of the first sub-controller institute driving motor is cut off, meanwhile, Third sub-controller also detects that the failure, passes through signal s31Cut off the letter transmitted by first the second sub-controller of sub-controller pair Number s12, to avoid signal s12Influence to the second sub-controller institute driving motor, that is, avoid being drawn by the first sub-controller failure The mistake cut-out risen ensures the normal work of the second sub-controller and its institute's driving motor, and steer-by-wire system is in the second son control It remains to execute normal turning function under the control of device;It is similar, when the second sub-controller or the generation of the motor of its control are single When failure, the first sub-controller can detect the failure, and pass through signal s12Cut off the second sub-controller institute driving motor Power supply, meanwhile, third sub-controller also detects that the failure, passes through signal s32Cut-out is controlled by second the first son of sub-controller pair The signal s of device transmission21, to avoid signal s21Influence to the first sub-controller institute driving motor avoids being controlled by the second son It is accidentally cut off caused by device failure processed, ensures that the normal work of the first sub-controller and its institute's driving motor, steer-by-wire system exist It remains to execute normal turning function under the control of first sub-controller;When third sub-controller breaks down, do not interfere with The turning function of system.Under fault diagnosis and treatment mechanism between such three sub-controllers, remaining control can guarantee Double remaining turning machines of device control can normally complete turning function under any single failure, ensure the safety of system.

Claims (4)

1. a kind of remaining controller circuitry for double remaining turning machines, which is characterized in that the circuit is by the first sub-controller, the Two sub-controllers and third sub-controller are constituted;Wherein, the first sub-controller is identical as the second sub-controller composed structure, respectively It for controlling the motor all the way in remaining turning machine, and is monitored mutually, is cut off when other side's sub-controller breaks down The road motor makes double remaining turning machines enter single remaining operating mode;Third sub-controller is simultaneously to the first sub-controller and the Two sub-controllers are monitored, and can cut off the sub-controller to another sub-controller when a sub-controller breaks down Signal is transmitted, is accidentally cut off to avoid caused by the way controller failure, ensures that steer-by-wire system normally works;Three Sub-controller passes network by the remaining line being made of FlexRay buses and CAN bus and carries out communication and monitoring mutually;
First, second sub-controller is equipped with motor interface, power power-supply interface, digital power interface, rotary angle transmitter Interface, communication interface and two internal interfaces;Third sub-controller is equipped with communication interface and two internal interfaces;Wherein, three Sub-controller passes network by the remaining line outside the access of respective communication interface respectively;First, second sub-controller leads to respectively It crosses motor interface and is connected with the motor respectively controlled, more than respective power power-supply interface, digital power interface and outside It spends power supply to be connected, be connected with external rotary angle transmitter by respective rotary angle transmitter interface;First, second sub-controller it Between pass through respective first internal interface (P12、P21) interconnect, the second internal interface (P of the first sub-controller13) and third First internal interface (P of sub-controller31) between interconnect, the second internal interface (P of the second sub-controller23) and third Second internal interface (P of sub-controller32) between interconnect.
2. circuit as described in claim 1, which is characterized in that the circuit of the first, second sub-controller include microcontroller and its Peripheral circuit, the message processing module being made of CAN corners transceiver and current sensor, is received and dispatched by CAN two power modules Device and the communication module of FlexRay transceivers composition drive mould by the motor that Fault Isolation module and H bridge driving circuits are constituted Block, five external interfaces and two internal interfaces;The connection relation of each electronic component is:Microcontroller respectively with CAN Transceiver, FlexRay transceivers, CAN corners transceiver, current sensor, H bridges driving circuit and the first internal interface phase Even, CAN transceiver, FlexRay transceivers are all connected with communication interface, and CAN corner transceivers connect rotary angle transmitter interface;H bridges The first end connection current sensor of driving circuit is simultaneously connected by motor interface with the anode of external motor, and second end passes through electricity Machine interface is connected with the cathode of external motor;The third ends of H bridge driving circuits with after Fault Isolation block coupled in series with power power-supply Interface is connected, and the 4th end connects Power Groud by power power-supply interface;Fault Isolation module is connected with two internal interfaces respectively;It is single Piece machine connects with two power modules and is connected with digital power interface through fuse successively, and digital power interface passes through the guarantor Dangerous silk is connected with rotary angle transmitter interface, the second internal interface respectively.
3. circuit as described in claim 1, which is characterized in that the third sub-controller include microcontroller and its peripheral circuit, Communication module, two power modules, communication interface and two internal interfaces being made of CAN transceiver and FlexRay transceivers; The connection relation of each electronic component is:Microcontroller connects with CAN transceiver, FlexRay transceivers and 2 inside respectively Mouth is connected, and CAN transceiver, FlexRay transceivers are all connected with communication interface;The number electricity inputted respectively via two internal interfaces Source by after two fuse parallel connections through the first power module (P1) be connected in parallel with CAN transceiver, FlexRay transceivers, By second power supply module (P2) connect with microcontroller.
4. circuit as claimed in claim 2, which is characterized in that the Fault Isolation module includes the number being made of NOT gate and/or door Word gating circuit, flash driving chip and pull down resistor;Wherein, it is passed from third sub-controller to first or second sub-controller Defeated signal is followed by pull down resistor by NOT gate, then the signal transmitted between the first, second sub-controller passes through jointly or door, Output signal is obtained by the input terminal of flash driving chip.
CN201610342000.9A 2016-05-20 2016-05-20 A kind of remaining controller circuitry for double remaining turning machines Active CN106020078B (en)

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CN107042815A (en) * 2017-04-07 2017-08-15 芜湖致通汽车电子有限公司 Vacuum pump control system
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