CN108189906A - Electric boosting steering system and its anti-towing astern method - Google Patents
Electric boosting steering system and its anti-towing astern method Download PDFInfo
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- CN108189906A CN108189906A CN201711293550.7A CN201711293550A CN108189906A CN 108189906 A CN108189906 A CN 108189906A CN 201711293550 A CN201711293550 A CN 201711293550A CN 108189906 A CN108189906 A CN 108189906A
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- Prior art keywords
- steering system
- electric
- bridges
- assist motor
- psu
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Classifications
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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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- 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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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of electric boosting steering system with anti-towing astern, electric booster steering system controller acquires the electric current and current direction of supply voltage, steering assist motor H bridge sampling resistors in real time；When meeting active off state, electric booster steering system controller actively turns off steering assist motor H bridges and phase line protection circuit (PSU)；Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and current direction is opposite when H bridge sampling resistor current directions are worked normally with electric boosting steering system.The present invention can utilize the anti-towing astern function of existing electric boosting steering system hardware realization, be avoided that since electric boosting steering system MOSFET caused by towing astern operating mode is damaged.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of electric boosting steering system with anti-towing astern.This
Invention further relates to a kind of anti-towing astern method of electric boosting steering system.
Background technology
Electric boosting steering system (EPS) mainly provides power steering torque using motor, by deceleration mechanism with driving
The steering moment that the person of sailing applies is worked together on steering column, is helped accordingly so as to be provided according to different vehicle conditions for driver
Power.Electric boosting steering system structure by traditional mechanical steering system as shown in Figure 1, (mainly include steering wheel 1, steering tube
Column 4, jackshaft 5,7 steering gear 8 of track rod, pinion gear 9, knuckle arm 10, deflecting roller 11) it installs rotary angle transmitter 2 additional, subtract
The compositions such as fast mechanism 3, torque sensor 6, steering assist motor 12 and electronic control unit 13.
Electric boosting steering system is in practical work process, if there is short between two phase lines of steering assist motor
Road, in isolated neutral, steering assist motor has negative-sequence current and flows through, and generates braking moment, this can be caused
Steering wheel is stuck and then influences the catastrophe failure of driver safety.To avoid the generation of this failure, usual electric power steering system
System can be designed with phase line protection circuit, and PSU (Phase Separation Unit) part, works as electric power steering as described in Figure 2
System will be cut off each phase line of motor by PSU, make electronic help when being diagnosed to be motor phase line and having short-circuit conditions generation
Power switches to manual assistant mode, it is ensured that steering wheel is still rotatable, so as to improve the safety of system.
Although can greatly be reduced using PSU circuits because short circuit brings the security risk of occupant between phase line, also bring
Other adverse effects.As shown in figure 3, when certain collision occurs for two vehicles, vehicle A according to arrow direction forward travel or
Intend during turning to the right, rush across to come and collide with the wheel of vehicle A from right side if there is vehicle B suddenly, this
When can give one, steering wheel extraneous reverse impact power, this can cause in Fig. 2 steering assist motor actively rotation i.e. motor towing astern.
In motor towing astern, if the H bridges and PSU of steering assist motor are opened, the inductance in motor can discharge energy
Measure and pass through H bridges and PSU forming circuit, and then generate counter electromotive force, as shown in Figure 4.The size of counter electromotive force can be under
Face formula is calculated.The energy stored in motor inductances is higher, and speed during collision is bigger, and motor towing astern generates anti-electronic
Gesture is also bigger, and amplitude can reach tens volts of even upper hectovolts.The VDS voltage endurance capabilities of MOSFET used are in usual PSU circuits
40V, once counter electromotive force is more than this value, MOSFET will result in permanent damages.
Ua in formula, ub, uc represent the output voltage of motor A, B, C three-phase respectively, and R is motor phase line internal resistance, ia, ib,
Ic is electric current in motor A, B, C three-phase, and L is motor phase line inductance value, and t is the time, and Ke is counter electromotive force of motor coefficient, and ω is electricity
Machine rotating speed, θ are motor corner.
The problem is currently one more scabrous technical barrier of electric boosting steering system field generally existing, Hen Duoguo
Inside and outside producer provides many solutions for this problem.Such as patent US 7,019,479B2Electronically
6,577,086B2Device for disconnecting a neutral point of commutable motor, patent US
Of a motor, patent WO 2010/116182A1Motor drive circuitry.These patents are typically by providing one
Kind hardware circuit optimizes design of electrical motor etc. to provide solution.Or these method circuits are complicated, device used is more,
Larger promotion or the complex manufacturing technology of product cost are brought, is implemented more difficult.
Invention content
It can be achieved with the technical problem to be solved in the present invention is to provide a kind of using existing electric boosting steering system hardware
The electric boosting steering system of anti-towing astern function.The present invention also provides a kind of real using existing electric boosting steering system hardware
The now method of anti-towing astern function.
In order to solve the above technical problems, electric boosting steering system provided by the invention acquires supply voltage, turns in real time
The electric current and current direction of assist motor H bridge sampling resistors；
When meeting active off state, electric booster steering system controller actively turns off steering assist motor H bridges and phase
Line protection circuit (PSU)；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H
Current direction is opposite when bridge sampling resistor current direction is worked normally with electric boosting steering system.
The electric boosting steering system is further improved, active off state continues electric boosted turn of the first preset duration
Add one to the first counter of system controller, only the first Counter Value is more than the first count threshold electric boosting steering system
Controller just actively turns off steering assist motor H bridges and phase line protection circuit (PSU).
The electric boosting steering system is further improved, electric booster steering system controller actively turns off power steering
After motor H bridges and phase line protection circuit (PSU), electric booster steering system controller starts timing, when shutdown power steering electricity
Machine H bridges and phase line protection circuit (PSU) duration are more than or equal to the second preset duration, electric booster steering system controller master
It is dynamic to restore steering assist motor H bridges and phase line protection circuit (PSU).
The electric boosting steering system is further improved, not meeting active off state, to continue the first preset duration electronic
Second counter of booster steering system controller adds one, when the second Counter Value is more than the second count threshold electric power steering
System controller actively restores steering assist motor H bridges and phase line protection circuit (PSU).
The electric boosting steering system is further improved, actively shutdown turns to electric booster steering system controller record
Assist motor H bridges and the steering assist motor critical electrical parameter of phase line protection circuit duration, shown critical electrical parameter
Including at least supply voltage value and H bridge sampling resistor current values, during for subsequently needing analysis use.
Wherein, voltage threshold is set as 25V, current threshold 18A, and the first count threshold is 10ms, the second count threshold
For 15ms, the first preset duration is 2ms, and the second preset duration is 1.2s.
A kind of anti-towing astern method of electric boosting steering system provided by the invention, includes the following steps：
The electric current and current direction of acquisition supply voltage, steering assist motor H bridge sampling resistors in real time
Whether real-time judge meets active off state；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H
Current direction is opposite when bridge sampling resistor current direction is worked normally with electric boosting steering system；
When meeting active off state, steering assist motor H bridges and phase line protection circuit (PSU) are actively turned off.
The anti-towing astern method of the electric boosting steering system is further improved, active off state continues the first preset duration
First counter adds one, and only the first Counter Value just actively turns off steering assist motor H bridges and phase more than the first count threshold
Line protection circuit (PSU).
The anti-towing astern method of the electric boosting steering system is further improved,：Actively turn off steering assist motor H bridges and phase
After line protection circuit (PSU), electric booster steering system controller starts timing, when shutdown steering assist motor H bridges and phase line
Circuit (PSU) duration is protected to be more than or equal to the second preset duration, electric booster steering system controller actively restores to turn to
Assist motor H bridges and phase line protection circuit (PSU).
The anti-towing astern method of the electric boosting steering system is further improved, active off state is not met and continues first in advance
If the second counter of duration adds one, when the second Counter Value is more than the second count threshold electric booster steering system controller actively
Restore steering assist motor H bridges and phase line protection circuit (PSU).
The anti-towing astern method of the electric boosting steering system is further improved, record actively turns off steering assist motor every time
H bridges and the steering assist motor critical electrical parameter of phase line protection circuit duration, the critical electrical parameter include at least
Supply voltage value and H bridge sampling resistor current values.
Wherein, voltage threshold is set as 25V, current threshold 18A, and the first count threshold is 10ms, the second count threshold
For 15ms, the first preset duration is 2ms, and the second preset duration is 1.2s.
Electric boosting steering system main thought of the present invention be when towing astern operating mode come it is interim, electric boosting steering system energy and
It early identifies the towing astern operating mode that may result in MOSFET damages, actively goes to close H bridges and PSU, so that in towing astern operating mode
The leakage path of motor inductances energy is closed early when middle.Close at this time, the energy accumulation of motor inductances be not also it is very high,
The instantaneous counter electromotive force occurred during shutdown is also not enough to that MOSFET is caused to damage.After channel is closed, even if motor is also in towing astern
In operating mode, counter electromotive force at this time is metastable, and amplitude is also not high enough, in the range of MOSFET can be born, from
And motor inductances energy accumulation is avoided to passively closing H bridges during certain altitude again and that when PSU occurs is instantaneous high electronic
Impact of the gesture to MOSFET.
The present invention identifies towing astern operating mode by information judgement, this is a step very crucial in the present invention, if towing astern
Operating mode cannot be identified correctly, it will electric boosting steering system is caused to malfunction, and then brings uncomfortable influence to driver's feel
Product practicability.The Main Basiss of towing astern operating mode's switch of the present invention are supply voltage, the size of current of sampling resistor and electric current side
To.This three indexs can realize the judgement of effective towing astern operating mode as adequate condition.Because electric boosting steering system
When product works normally, supply voltage is basicly stable, and when towing astern operating mode occurs can lead to the lifting of supply voltage, can be with
The lifting for saying voltage is that towing astern operating mode is different from one of notable index for nominal situation.Therefore it is more than voltage by supply voltage
Threshold value VHth is as one of Rule of judgment.It also needs to judge that another refers under conditions of the exceeded satisfaction of supply voltage
Mark is exactly size of current and the direction for flowing through sampling resistor F1, and the current direction for flowing through sampling resistor in towing astern operating mode is such as
Fruit is opposite with expected direction and electric current is more than current threshold Phase_Current_Limit, then it is believed that motor is in
In towing astern operating mode.The counter electromotive force that it is generated when electric current is smaller is also smaller, even if motor is in towing astern operating mode at this time, generates
Energy be also not enough to cause the damage to MOSFET, electric boosting steering system is safe at this time, only beyond the electric current
Threshold value is likely to the damage that can lead to MOSFET, and electric current is higher, and the probability of damage is bigger.Therefore it needs to being more than current threshold
The towing astern operating mode of value carries out relevant protective treatment.The present invention is exactly by comprehensive descision supply voltage and flows through sampling resistor
Size of current and direction discernment go out towing astern operating mode.
After identifying towing astern operating mode, the present invention actively turns off H bridges and the processing of PSU, main purpose as said before,
When motor inductances energy is not accumulated also, leakage path is closed in advance, and the towing astern of motor is made to be in plateau, avoids motor
The instantaneous high electromotive force occurred when passively closing H bridges and PSU again after inductance energy accumulation to certain altitude is to MOSFET's
Impact.For software is avoided to occur because of the phenomenon that closing H bridges caused by erroneous judgement towing astern operating mode and PSU.The present invention is for towing astern operating mode
Identification also proposed prioritization scheme, and only towing astern operating mode meets certain time delay and judges that number CountA_Limit just thinks this
Towing astern operating mode is effective, and controller can just go to perform the action for closing H bridges and PSU.The condition of only towing astern operating mode is unsatisfactory for
Certain time delay and judge that number CountB_Limit just thinks that towing astern operating mode is invalid, electric boosting steering system, which is pressed, to be preset
Workflow carries out other processing in major cycle.After judging effective towing astern operating mode and closing H bridges and PSU, the present invention is set
Put the second preset duration No_Assistance_Time_Limit because usually towing astern operating mode will not always exist, when more than
After second preset duration, EPS products can open H bridges and PSU restores normal operating conditions.If it is sent out in the EPS courses of work
The operating mode of motor towing astern was given birth to, the present invention can record some of key parameters, such as close supply voltage when H bridges and PSU, stream
Size of current and the flag code storage of over-sampling resistance in EEPROM, during for subsequently needing analysis use.
Description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
Fig. 1 is EPS structure diagrams.
Fig. 2 is a kind of electric booster steering controller electrical block diagram.
Fig. 3 is a kind of vehicle collision schematic diagram.
Counter electromotive force forms schematic diagram when Fig. 4 is motor towing astern
Fig. 5 is flow diagram of the present invention.
Specific embodiment
One embodiment of electric boosting steering system provided by the invention, electric booster steering system controller acquire electricity in real time
The electric current and current direction of source voltage, steering assist motor H bridge sampling resistors；
When meeting active off state, and active off state continues the first preset duration electric boosting steering system control
First counter of device processed adds one, and only the first Counter Value is more than the first count threshold electric booster steering system controller
Actively turn off steering assist motor H bridges and phase line protection circuit (PSU)；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H
Current direction is opposite when bridge sampling resistor current direction is worked normally with electric boosting steering system；
After electric booster steering system controller actively turns off steering assist motor H bridges and phase line protection circuit (PSU), electricity
Dynamic booster steering system controller starts timing, when shutdown steering assist motor H bridges and phase line protection circuit (PSU) duration
More than or equal to the second preset duration, electric booster steering system controller actively restores steering assist motor H bridges and phase line protection
Circuit (PSU)；
The second counter that active off state continues the first preset duration electric booster steering system controller is not met
Add one, when the second Counter Value actively restores steering assist motor more than the second count threshold electric booster steering system controller
H bridges and phase line protection circuit (PSU)；
When electric booster steering system controller record actively turns off steering assist motor H bridges and lasting phase line protection circuit
Between steering assist motor critical electrical parameter, shown critical electrical parameter include at least supply voltage value and H bridge sampling resistors
Current value.Wherein, voltage threshold is set as 25V, current threshold 18A, and the first count threshold is 10ms, and the second count threshold is
15ms, the first preset duration are 2ms, and the second preset duration is 1.2s.
As shown in figure 5, a kind of anti-towing astern method of electric boosting steering system provided by the invention, includes the following steps：
The electric current and current direction of acquisition supply voltage, steering assist motor H bridge sampling resistors in real time
Whether real-time judge meets active off state；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H
Current direction is opposite when bridge sampling resistor current direction is worked normally with electric boosting steering system；
Active off state continues first the first counter of preset duration and adds one, and only the first Counter Value is more than the first meter
Number threshold value just actively turns off steering assist motor H bridges and phase line protection circuit (PSU).
After actively turning off steering assist motor H bridges and phase line protection circuit (PSU), electric booster steering system controller is opened
Beginning timing, when shutdown steering assist motor H bridges and phase line protection circuit (PSU) duration be more than or equal to the second preset duration,
Electric booster steering system controller actively restores steering assist motor H bridges and phase line protection circuit (PSU).
It does not meet active off state and continues first the second counter of preset duration and add one, when the second Counter Value is more than the
Two count threshold electric booster steering system controllers actively restore steering assist motor H bridges and phase line protection circuit (PSU).
Record actively turns off steering assist motor H bridges every time and the steering assist motor of phase line protection circuit duration closes
Key electric parameter, the critical electrical parameter include at least supply voltage value and H bridge sampling resistor current values.
Wherein, voltage threshold is set as 25V, current threshold 18A, and the first count threshold is 10ms, the second count threshold
For 15ms, the first preset duration is 2ms, and the second preset duration is 1.2s.
The present invention is described in detail above by specific embodiment and embodiment, but these are not composition pair
The limitation of the present invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Into these also should be regarded as protection scope of the present invention.
Claims (12)
1. a kind of electric boosting steering system with anti-towing astern, it is characterised in that：Electric booster steering system controller
The electric current and current direction of acquisition supply voltage, steering assist motor H bridge sampling resistors in real time；
When meeting active off state, electric booster steering system controller actively turns off steering assist motor H bridges and phase line is protected
Protection circuit (PSU)；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H bridges are adopted
Current direction is opposite when sample resistor current direction is worked normally with electric boosting steering system.
2. electric boosting steering system as described in claim 1, it is characterised in that：Active off state continue first it is default when
First counter of long electric booster steering system controller adds one, and it is electronic that only the first Counter Value is more than the first count threshold
Booster steering system controller just actively turns off steering assist motor H bridges and phase line protection circuit (PSU).
3. electric boosting steering system as claimed in claim 2, it is characterised in that：Electric booster steering system controller is actively
After turning off steering assist motor H bridges and phase line protection circuit (PSU), electric booster steering system controller starts timing, works as pass
Disconnected steering assist motor H bridges and phase line protection circuit (PSU) duration are more than or equal to the second preset duration, electric power steering
System controller actively restores steering assist motor H bridges and phase line protection circuit (PSU).
4. the electric boosting steering system as described in claim 1-3 any one, it is characterised in that：It does not meet and actively turns off shape
The second counter that state continues the first preset duration electric booster steering system controller adds one, when the second Counter Value is more than the
Two count threshold electric booster steering system controllers actively restore steering assist motor H bridges and phase line protection circuit (PSU).
5. electric boosting steering system as claimed in claim 4, it is characterised in that：Electric booster steering system controller records
The steering assist motor critical electrical parameter of steering assist motor H bridges and phase line protection circuit duration are actively turned off, it is shown
Critical electrical parameter includes at least supply voltage value and H bridge sampling resistor current values.
6. electric boosting steering system as claimed in claim 4, it is characterised in that：Voltage threshold is set as 25V, current threshold
For 18A, the first count threshold is 10ms, and the second count threshold is 15ms, and the first preset duration is 2ms, and the second preset duration is
1.2s。
A kind of 7. anti-towing astern method of electric boosting steering system, which is characterized in that include the following steps：
The electric current and current direction of acquisition supply voltage, steering assist motor H bridge sampling resistors in real time
Whether real-time judge meets active off state；
Active off state refers to that supply voltage is more than voltage threshold, and H bridge sampling resistors electric current is more than current threshold, and H bridges are adopted
Current direction is opposite when sample resistor current direction is worked normally with electric boosting steering system；
When meeting active off state, steering assist motor H bridges and phase line protection circuit (PSU) are actively turned off.
8. the anti-towing astern method of electric boosting steering system as claimed in claim 7, it is characterised in that：Active off state continues
First the first counter of preset duration adds one, and only the first Counter Value just actively turns off power steering more than the first count threshold
Motor H bridges and phase line protection circuit (PSU).
9. the anti-towing astern method of electric boosting steering system as claimed in claim 8, it is characterised in that：Actively turn off power steering
After motor H bridges and phase line protection circuit (PSU), electric booster steering system controller starts timing, when shutdown power steering electricity
Machine H bridges and phase line protection circuit (PSU) duration are more than or equal to the second preset duration, electric booster steering system controller master
It is dynamic to restore steering assist motor H bridges and phase line protection circuit (PSU).
10. the anti-towing astern method of electric boosting steering system as described in claim 7-9 any one, it is characterised in that：It is not inconsistent
Conjunction active off state continues first the second counter of preset duration and adds one, when the second Counter Value is more than the second count threshold electricity
Dynamic booster steering system controller actively restores steering assist motor H bridges and phase line protection circuit (PSU).
11. the anti-towing astern method of electric boosting steering system as claimed in claim 10, it is characterised in that：Record actively closes every time
Disconnected steering assist motor H bridges and the steering assist motor critical electrical parameter of phase line protection circuit duration, the crucial electricity
Gas parameter includes at least supply voltage value and H bridge sampling resistor current values.
12. the anti-towing astern method of electric boosting steering system as claimed in claim 10, it is characterised in that：Voltage threshold is set as
25V, current threshold 18A, the first count threshold are 10ms, and the second count threshold is 15ms, and the first preset duration is 2ms, the
Two preset durations are 1.2s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293550.7A CN108189906A (en) | 2017-12-08 | 2017-12-08 | Electric boosting steering system and its anti-towing astern method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293550.7A CN108189906A (en) | 2017-12-08 | 2017-12-08 | Electric boosting steering system and its anti-towing astern method |
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| Publication Number | Publication Date |
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| CN108189906A true CN108189906A (en) | 2018-06-22 |
Family
ID=62573694
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711293550.7A Pending CN108189906A (en) | 2017-12-08 | 2017-12-08 | Electric boosting steering system and its anti-towing astern method |
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| CN113044053A (en) * | 2021-02-01 | 2021-06-29 | 东风汽车集团股份有限公司 | EPS controller phase MOSFET impact loss prevention control method and system |
| CN113844530A (en) * | 2020-06-28 | 2021-12-28 | 上海汽车集团股份有限公司 | EPS component protection method and device |
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