CN108248676A - A kind of more motor wire-controlled steering systems and control method with fault tolerance - Google Patents
A kind of more motor wire-controlled steering systems and control method with fault tolerance Download PDFInfo
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- CN108248676A CN108248676A CN201711346835.2A CN201711346835A CN108248676A CN 108248676 A CN108248676 A CN 108248676A CN 201711346835 A CN201711346835 A CN 201711346835A CN 108248676 A CN108248676 A CN 108248676A
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- electromagnetic clutch
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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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The present invention relates to a kind of more motor wire-controlled steering systems and control method with fault tolerance, the system includes master controller, can buses, power sense motor module, turn to axle module, steering wheel angle torque sensor, main electromagnetic clutch, first motor module, second motor module and third motor module, master controller passes through can bus attachment force sense motor modules respectively, first motor module, second motor module and third motor module, first motor module is connect with steering gear pinion gear, second motor module connects steering gear rack, the connection of third motor module turns to axle module, it turns to axle module and connects steering wheel and steering gear pinion gear respectively, master controller is also connect with steering wheel angle torque sensor and main electromagnetic clutch respectively.Compared with prior art, the present invention has many advantages, such as that Fault Tolerance is by force and safe.
Description
Technical field
The present invention relates to wire-controlled steering system control method, more particularly, to a kind of more motor line traffic controls with fault tolerance
Steering and control method.
Background technology
Steering-by-wire eliminates the mechanical connection between steering wheel and steering gear, and the steering work(of vehicle is realized by control
Can, steering characteristic can be changed in real time according to the enforcement state of vehicle and the driving condition of driver, improve vehicle safety performance,
Improve driving performance, enhance maneuverability, improve the road feel of driver.It is real but due to eliminating the mechanical structure for forcing to ensure
Show being flexible coupling between steering wheel and steering gear, therefore, the problem of security reliability is one extremely important.Wherein motor
Actual effect (including failure and power-off etc.) problem is to compare distinct issues.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind has fault tolerance
More motor wire-controlled steering systems and control method.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of more motor wire-controlled steering systems with fault tolerance, the system include master controller, can buses,
Power sense motor module turns to axle module, steering wheel angle torque sensor, main electromagnetic clutch, the first motor module, the second electricity
Machine module and third motor module, the master controller pass through can bus attachment force senses motor module, the first motor mould respectively
Block, the second motor module and third motor module, first motor module are connect with steering gear pinion gear, and described second
Motor module connects steering gear rack, and third motor module connection turns to axle module, steering axle module difference
Connect steering wheel and steering gear pinion gear, the master controller also respectively with steering wheel angle torque sensor and main electromagnetism from
Clutch connects.
Preferably, the power sense motor module includes sequentially connected power electrification machine controller, power electrification machine and power sense
Motor torque coupler, power electrification machine controller connection can buses, power sense motor torque coupler connection turn
To axle module.
Preferably, the steering axle module includes the first steering shaft, the second steering shaft and third steering shaft, the side
May be contained in the first steering shaft to disk corner torque sensor and main electromagnetic clutch, first steering shaft with second turn
It is connected to axis by the first universal joint, second steering shaft is connect with third steering shaft by the second universal joint, described
Third turns to axis connection steering gear.
Preferably, the third motor module includes sequentially connected third electric machine controller, third motor, third turn
Angle transducer, third electromagnetic clutch and third moment coupling device, third electric machine controller connection can buses are described
Third moment coupling device be set in the second steering shaft, the third electromagnetic clutch and third rotary angle transmitter connect respectively
Connect third electric machine controller.
Preferably, first motor module include sequentially connected first electric machine controller, the first motor, first turn
Angle transducer, the first electromagnetic clutch and the first moment coupling device, first electric machine controller connection can buses are described
The first moment coupling device connection steering gear pinion gear, the first electromagnetic clutch and the first rotary angle transmitter connect the first electricity respectively
Machine controller.
Preferably, second motor module include sequentially connected second electric machine controller, the second motor, second turn
Angle transducer, the second electromagnetic clutch and the second moment coupling device, second electric machine controller connection can buses are described
The second moment coupling device connection steering gear rack, the second electromagnetic clutch and the second rotary angle transmitter connect the second motor respectively
Controller.
It is a kind of using a kind of controlling party of more motor wire-controlled steering systems with fault tolerance described in any one of the above embodiments
Method, the method include the following steps：
Corner passes in S1, master controller reception speed signal, steering wheel angle torque sensor signal and each motor module
Sensor signal, master controller give power electrification machine by can buses output torque, and master controller is exported respectively by can buses to be turned
Square to the first electric machine controller, the second electric machine controller and third electric machine controller,
When torque needed for system can be provided torque capacity less than the first motor, then step S2 is gone to, when turning needed for system
Square can be provided torque capacity more than the first motor and can be provided the sum of torque capacity less than or equal to the first motor and the second motor,
Step S3 is then gone to, when torque needed for system can be provided the sum of torque capacity and be less than or equal to more than the first motor and the second motor
First motor, the second motor and third motor can be provided the sum of torque capacity, then go to step S4, when torque is big needed for system
The sum of torque capacity is can be provided in the first motor, the second motor and third motor, then goes to step S5；
S2, start the work of the first motor, the first motor is as angle electrical machinery；
S3, the first motor are operated at full capacity as angle electrical machinery, while start the second motor as torque motor；
S4, the first motor and the second motor are operated at full capacity, while start third motor, and the first motor is as corner electricity
Machine, the second motor and third motor are as torque motor；
S5, the first motor, the second motor and third motor are operated at full capacity simultaneously, while main controller controls electromagnetic clutch
Device combines, and controls steering gear simultaneously by steering wheel, the first motor is used as and turns as angle electrical machinery, the second motor and third motor
Torque motor；
Preferably, in the step S1 when breaking down in three motors there are one motor, then faulty motor corresponds to
The corresponding electromagnetic clutch separation of electric machine controller control faulty motor, and closing fault motor, by remaining two motors point
Not Zuo Wei angle electrical machinery and torque motor, when breaking down in three motors there are two motor, then the corresponding electricity of faulty motor
The corresponding electromagnetic clutch separation of machine controller control faulty motor, and closing fault motor, using a remaining motor as turn
Angle motor, when three motors break down, then the corresponding electric machine controller of faulty motor controls the corresponding electricity of faulty motor
Magnet clutch detaches, and closing fault motor, and the main electromagnetic clutch of main controller controls combines.
Compared with prior art, the present invention has the following advantages：
1st, Fault Tolerance is strong：The present invention by three motor parallels in the mechanical structure of steering, main control
Device detects the state of 3 motors in real time, according to circumstances distributes the task of each steering motor, is effectively improved the appearance of steering
Wrong ability, and additional torque is added in some cases, accelerate the response speed of system, so as to improve the driving of automobile peace
Quan Xing；
2nd, it is safe：Main electromagnetic clutch is set, when three motors break down, master controller control can be passed through
It makes main electromagnetic clutch to combine, carries out mechanical steering control, ensure safety.
Description of the drawings
Fig. 1 is a kind of more motor wire-controlled steering system schematic diagrames with fault tolerance of the present invention；
1st, steering wheel；2nd, the first steering shaft epimere；3rd, steering wheel angle torque sensor；4th, power sense motor torque couples
Device；5th, power electrification machine；6th, power electrification machine controller；7th, main electromagnetic clutch；8th, the first steering shaft hypomere；9th, the first universal joint；
10th, third moment coupling device；11st, third electromagnetic clutch；12nd, third rotary angle transmitter；13rd, third motor；14th, third motor
Controller；15th, the second steering shaft；16th, the second universal joint；17th, third steering shaft；18th, steering gear pinion gear；19th, steering gear tooth
Item；20th, the first moment coupling device；21st, the first electromagnetic clutch；22nd, the first rotary angle transmitter；23rd, the first motor；24th, first
Electric machine controller；25th, the second moment coupling device；26th, the second electromagnetic clutch；27th, the second rotary angle transmitter；28th, the second motor；
29th, the second electric machine controller；30th, master controller.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is the part of the embodiment rather than whole embodiments of the present invention.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
Embodiment
The present invention discloses more motor wire-controlled steering systems and control method with fault tolerance, and 1) under normal circumstances, it is small
The first motor 23 on gear ensures the proportionate relationship between steering wheel angle and steering wheel angle as angle electrical machinery.Second
Motor 28 is torque motor, adds in additional torque, such as when driver promptly beats steering wheel according to driving situation, which adds in
Additional torque accelerates the response of system.Third motor 13 is in shutdown status and is not involved in work.2) when detecting in 3 motors
When breaking down there are one motor, master controller sends out instruction immediately, and the task of other two motor is allocated：One work
For angle electrical machinery, as torque motor, ensureing the steering of vehicle can work normally for another.3) when there is 2 in 3 steering motors
When motor breaks down, then master controller distributes remaining 1 motor and works on as angle electrical machinery, ensures that vehicle has and turns
To function.4) when 3 steering motors break down, then the main electromagnetic clutch 7 of main controller controls combines, at this time steering system
System becomes traditional mechanical steering system, and vehicle also has turning function.
Concrete structure：
A kind of more motor wire-controlled steering systems with fault tolerance, such as Fig. 1, it is total which includes master controller, can
Line, turns to axle module, steering wheel angle torque sensor, main electromagnetic clutch, the first motor module, the at power sense motor module
Two motor modules and third motor module, the master controller pass through can bus attachment force senses motor module, the first electricity respectively
Machine module, the second motor module and third motor module, first motor module is connect with steering gear pinion gear, described
Second motor module connects steering gear rack, and third motor module connection turns to axle module, the steering axle module
Connect steering wheel and steering gear pinion gear respectively, the master controller also respectively with steering wheel angle torque sensor and main electricity
Magnet clutch connects.
Power sense motor module includes sequentially connected power electrification machine controller 6, power electrification machine 5 and the coupling of power sense motor torque
Device 4, the power electrification machine controller 6 connection can buses, the power sense motor torque coupler 4 connection turn to axle module.
It turns to axle module and includes the first steering shaft, the second steering shaft 15 and third steering shaft 17, the steering wheel angle
Torque sensor 3 and main electromagnetic clutch 7 may be contained in the first steering shaft, first steering shaft and the second steering shaft 15
It is connected by the first universal joint 9, second steering shaft 15 is connect with third steering shaft 17 by the second universal joint 16, described
Third steering shaft 17 connect steering gear.
Third motor module includes sequentially connected third electric machine controller 14, third motor 13, third rotary angle transmitter
12nd, third electromagnetic clutch 11 and third moment coupling device 10, the third electric machine controller 14 connection can buses are described
Third moment coupling device 10 be set in the second steering shaft 15, the third electromagnetic clutch 11 and third rotary angle transmitter
12 connect third electric machine controller 14 respectively.
First motor module includes sequentially connected first electric machine controller 24, the first motor 23, the first rotary angle transmitter
22nd, the first electromagnetic clutch 21 and the first moment coupling device 20, first electric machine controller 24 connection can buses are described
The first moment coupling device 20 connection steering gear pinion gear 18, the first electromagnetic clutch 21 and the first rotary angle transmitter 22 connect respectively
Connect the first electric machine controller 24.
Second motor module includes sequentially connected second electric machine controller 29, the second motor 28, the second rotary angle transmitter
27th, the second electromagnetic clutch 26 and the second moment coupling device 25, second electric machine controller 29 connection can buses are described
The second moment coupling device 25 connection steering gear rack 19, the second electromagnetic clutch 26 and the second rotary angle transmitter 27 connect respectively
Second electric machine controller 29.
The first steering shaft of connection, the first steering shaft are divided into the first steering shaft epimere 2, the first steering shaft hypomere below steering wheel
8, centre is connected by main electromagnetic clutch 7；First steering shaft connects the second steering shaft 15 by the first universal joint 9；Steering wheel
The setting of corner torque sensor and the corner that below steering wheel, is applied for acquiring driver in real time to steering wheel and turn
Square is turned in the output terminal of corner and the lower section power electrification machine of torque sensor by power sense motor torque coupler 4 and first
Axis epimere 2 connects, for road feel to be supplied to driver in real time；Is connected between third motor 13 and third moment coupling device 10
Three electromagnetic clutch 11, third moment coupling device 10 are connect with the second steering shaft 15；Second steering shaft 15 passes through the second universal joint
16 connect with third steering shaft 17；17 times termination rack and pinion steering gears of third steering shaft, the first motor 23 and the first torque coupling
The first electromagnetic clutch 21 is connected between clutch 20, the first moment coupling device 20 is connect with steering gear pinion gear 18；Second motor
28 and second connect the second electromagnetic clutch 26 between moment coupling device 25, and the second moment coupling device 25 connects with steering gear rack 19
It connects.
Output terminal, the electromagnetic clutch of steering wheel angle torque sensor are connected with master controller, and steering motor corner passes
Sensor output terminal is connected with corresponding steering motor controller, and three steering motor controllers and power electrification machine controller are hung respectively
In CAN bus, main electromagnetic clutch 7 is connect with master controller.
Master controller 30 is in real time monitored the state of four motors, and each motor is distributed according to failure and operating mode situation
Task：One of them is road feel motor, and the purposes of remaining 3 motor carries out point of task according to failure and operating mode situation
Match.The control process of road feel motor is：Master controller by vehicle speed sensor, steering wheel angle torque rotary angle transmitter and turn
Analysis comparison is carried out to the signal of motor rotary angle transmitter, the torque value that output electrification machine should export is obtained, then passes through CAN bus
The information such as enabling signal and the corner torque to be exported of power electrification machine, power electrification machine controller are sent to power electrification machine controller
Control force sense electric motor starting simultaneously exports corresponding corner torque, for road feel to be passed to driver by steering wheel in real time.
After automobile starting, each sensor, controller starts start-up operation immediately, when automobile needs turning, driver
It, can be by for manipulating automobile according to the operating condition of automobile, road conditions to the certain corner of input of steering wheel and torque
Steering according to driver is intended to realize steering.
Since the first steering shaft is divided into upper and lower two sections, the first steering shaft epimere and the first steering shaft hypomere by main electromagnetism from
Clutch is connected, and main electromagnetic clutch is often in discrete state, therefore road feel will be unable to be directly passed to by steering mechanism
Driver makes driver perceive the state of road and wheel.If steering wheel does not have certain damping, driver will be unable to
Control direction disk inputs accurate corner torque, so as to influence the traffic safety of automobile.Sensing will be passed through by master controller at this time
The signals such as device acquisition speed, steering wheel angle torque, motor corner, carry out operation and obtain the road feel torque that present road should be passed back
Value, the torque value signal that then master controller should be exported by CAN bus to power electrification machine controller transmission power electrification machine, and power
Electrification machine controller control force electrification machine exports corresponding torque, and road feel is passed to driver by power electrification machine with this.
Three steering motors and the 4th clutch is controlled to may be constructed four articles of roads for individually transmitting torque respectively by controller
Line, it is respectively universal by third motor 13, third electromagnetic clutch 11, third moment coupling device 10, the second steering shaft 15, second
First torque transfer route that section 16, third steering shaft 17, the rack-and-pinion of steering gear are formed；By the first motor 23,
One electromagnetic clutch 21, the first moment coupling device 20, steering gear gear form Article 2 torque transfer route；By second turn
The Article 3 torque route formed to the rack of motor 28, the second electromagnetic clutch 26, the second moment coupling device 25, steering gear；
By driver, steering wheel 1, the first steering shaft epimere 2, main electromagnetic clutch 7, the first steering gear hypomere 8, the first universal joint 9,
Road is transmitted in the Article 4 torque that two steering shafts 15, the second universal joint 16, third steering shaft 17, the gear of steering gear and rack are formed
Line.
Each steering motor controller can not only control corresponding steering motor start and stop and output steering required
Torque, and the combination of corresponding electromagnetic clutch can be controlled with detaching.First motor 23 is in and is often in opening, the
One electromagnetic clutch 21 often in bonding state, convenient for the first electric machine controller 24 receive 30 turn signal of master controller it
Afterwards, it rotates immediately the first motor 23 and exports corresponding corner through the first electromagnetic clutch 21, can effectively improve steering
The reaction speed of system.Second motor 28 and third motor 13 are often in shutdown status, the second electromagnetic clutch 26, third electromagnetism
Clutch 11 is often in discrete state；Before electric machine controller controls the second motor 28, third motor 13 to open, first control is each
Electromagnetic clutch corresponding to motor combines；After electric machine controller controls the second motor 28, third motor 13 is closed, then
The electromagnetic clutch corresponding to each steering motor is controlled to detach again.The task of first motor 23 is real-time ensuring steering wheel and wheel
Proportionate relationship between corner.Second motor 28, third motor 13 are torque motor, and the effect of torque motor is in emergency
It is lower to add in additional torque, accelerate the response speed of system.
The present invention a kind of automobile steer-by-wire system and control method with fault tolerance, mainly include the following steps that：
Master controller by acquiring vehicle speed sensor, steering wheel angle torque sensor, steering motor rotation angular sensing in real time
Device respective sensor signals, therefore when driver inputs certain corner and torque to steering wheel, master controller basis immediately
The collected automobile current vehicle speed of sensor institute, steering wheel angle torque, steering motor corner dtc signal are worked as to calculate vehicle
Preceding side acceleration, then the driver with being stored in control module input corner torque and required turn of steering
Angle torque relationship, lateral acceleration change curve are compared, and obtain the corner torque value needed for steering.Master controller at this time
The required corner torque value of steering is sent to by the first electric machine controller 24, the first electric machine controller by CAN bus
The current value of the first motor is led in 24 controls, so as to the corner torque that the first motor is controlled to be exported.Second motor and at this time
Three motors are in shutdown status.
1st, during steering output torque deficiency, servo steering system control mode
The signal that vehicle speed sensor, steering wheel angle torque sensor, steering motor rotary angle transmitter are acquired reaches master
Controller is calculated the lateral acceleration of vehicle by master controller according to speed, steering wheel angle torque, steering motor angular signal
Degree, and average the had a preference for steering moment of the driver with being stored in master controller, lateral acceleration change curve are compared, and are obtained
Go out the steering moment that steering should have.Then the torque exported the required torque of steering and steering
Comparison judgement is carried out, show whether the required torque of steering is more than the torque that work at present steering motor is exported：
1) the master controller torque that required torque is exported with the first motor 23 to steering compares, if turning
When the torque that should be exported to system is more than the torque capacity that the first motor 23 can be provided, operate at full capacity in the first motor 23
Under the conditions of, master controller is sent with reference to the second electromagnetic clutch 26 to the second electric machine controller 29 by CAN bus and starts the
The signal of two motors 28, controlling the second electric machine controller 29, second electromagnetic clutch 26 combines and the second motor 28 opens simultaneously work
Make.The required torque of steering is provided simultaneously by the first motor 23, the second motor 28.It is used as and turned by the first motor 23 at this time
Angle motor, the second motor 28 complete steering task jointly as torque motor.
2) if the torque that steering should export is more than the torque capacity that can be provided, in the first motor 23, second
Under the conditions of motor 28 is operated at full capacity, master controller is sent to third electric machine controller 14 by CAN bus and combines third electromagnetism
Clutch 11 and the signal for starting third motor 13 make third electric machine controller 14 that third electromagnetic clutch 11 be controlled to combine and the
Three motors 13 are opened and are worked.The required torque of steering is provided simultaneously by three steering motors.At this time by the first motor
23 are used as angle electrical machinery, the second motor 28 and third motor 13 to complete steering task as the common output torque of torque motor.
4) if the output torque needed for steering, which is more than the first motor 23, the second motor 28, third motor 13, to be carried
During the sum of maximum power torque supplied, in the first motor 23, the second motor 28, third motor 13 while condition of operating at full capacity
Under, master controller is sent to main electromagnetic clutch controller by CAN bus and combines main 7 signal of electromagnetic clutch, makes main electromagnetism
Clutch controller controls main electromagnetic clutch to combine.The required torque of steering at this time is by three steering motors and driving
Member provides simultaneously.The first motor 23 is still still used as torque motor as angle electrical machinery, the second motor 28 and third motor 13 at this time.
When motor failure the 2nd, is turned in steering, steering control mode
1) if three steering motors are whole under normal circumstances, each steering motor working condition；
The first motor 23 in controller control pinion gear ensures as angle electrical machinery between steering wheel and wheel steering angle
Proportionate relationship.Second motor 28 is torque motor, and power torque is added according to driving situation.Such as the unexpected rotation direction of driver
Disk, at this time the second motor 28 work, steering is given to apply an additional moment, improves the response speed of steering.Third
Motor 13 is in shutdown status and is not involved in work.
2) when breaking down in three steering motors there are one motor, each steering motor working condition；
If the first motor 23 breaks down, master controller will be received through the first rotary angle transmitter 22, the control of the first motor
The fault-signal that device 24 and CAN bus are transmitted, then master controller pass is sent out to the first electric machine controller 24 by CAN bus
It closes the first motor 23 and detaches the signal of the first electromagnetic clutch 21, make the first electric machine controller 24 that the first motor 23 be controlled to close
And the first electromagnetic clutch 21 of separation.Master controller will be sent to the second electric machine controller 29 with reference to the by CAN bus simultaneously
Two electromagnetic clutch 26 and the signal for starting the second motor 28, make the second electric machine controller 29 control 26 knot of the second electromagnetic clutch
It closes and the second motor 28 is opened.Angle electrical machinery is switched to by torque motor by the second motor 28 at this time, third motor 13 is used as torque
Motor completes steering task with this.
If the second motor 28 breaks down, master controller will be received through the second rotary angle transmitter 27, the control of the second motor
The fault-signal that device 29 and CAN bus are transmitted, then master controller pass is sent out to the second electric machine controller 29 by CAN bus
It closes the second motor 28 and detaches the signal of the second electromagnetic clutch 26, make the second electric machine controller 29 that the second motor 28 be controlled to close
And the second electromagnetic clutch 26 of separation.At this time by the first motor 23 still as angle electrical machinery, third motor 13 substitutes the second motor
28 are used as torque motor, and steering task is completed with this.
If third motor 13 breaks down, master controller will be received through third rotary angle transmitter 12, the control of third motor
The fault-signal that device 14 and CAN bus are transmitted, then master controller pass is sent out to third electric machine controller 14 by CAN bus
It closes third motor 13 and detaches the signal of third electromagnetic clutch 11, make third electric machine controller 14 that third motor 13 be controlled to close
And separation third electromagnetic clutch 11.At this time by the first motor 23 still as angle electrical machinery, the second motor 28 is still as torque electricity
Machine completes steering task with this.
3) when breaking down in three steering motors there are two motor, each steering motor working condition；
If the first motor 23,28 failure of the second motor, master controller will be received through first the 22, first electricity of rotary angle transmitter
The fault-signal that machine controller 24 and CAN bus are transmitted, then master controller 30 by CAN bus to the first electric machine controller
24 send out the signal closed the first motor 23 and detach the first electromagnetic clutch 21, make the first electricity of the first electric machine controller 24 control
The first electromagnetic clutch 21 is closed and detached to machine 23；And master controller is received through the second rotary angle transmitter 27, the control of the second motor
The fault-signal that device 29 and CAN bus are transmitted, then master controller pass is sent out to the second electric machine controller 29 by CAN bus
It closes the second motor 28 and detaches the signal of the second electromagnetic clutch 26, make the second electric machine controller 29 that the second motor 28 be controlled to close
And the second electromagnetic clutch 26 of separation；Master controller will be sent to third electric machine controller 14 with reference to the by CAN bus simultaneously
Three electromagnetic clutch 11 and the signal for starting third motor 13 make third electric machine controller 14 control 11 knot of third electromagnetic clutch
It closes and third motor 13 is opened.Third motor 13 switchs to angle electrical machinery by torque motor at this time, ensures steering wheel and wheel with this
The proportionate relationship of angle between corner.
If the first motor 23,13 failure of third motor, master controller will be received through first the 22, first electricity of rotary angle transmitter
The fault-signal that machine controller 24 and CAN bus are transmitted, then master controller by CAN bus to the first electric machine controller 24
The signal closed the first motor 23 and detach the first electromagnetic clutch 21 is sent out, the first electric machine controller 24 is made to control the first motor
23 close and detach the first electromagnetic clutch 21；And master controller is received through third rotary angle transmitter 12, third electric machine controller
14 and the fault-signal that is transmitted of CAN bus, then master controller closing is sent out to third electric machine controller 14 by CAN bus
The signal of third motor 13 and separation third electromagnetic clutch 11, make third electric machine controller 14 control third motor 13 close and
Detach third electromagnetic clutch 11；Master controller will be sent to the second electric machine controller 29 with reference to second by CAN bus simultaneously
Electromagnetic clutch 26 and the signal for starting the second motor 28, make the second electric machine controller 29 that the second electromagnetic clutch 26 be controlled to combine
And second motor 28 open.The second motor 28 switchs to angle electrical machinery by torque motor at this time, ensures that steering wheel turns with wheel with this
The proportionate relationship of angle between angle.
If the second motor 28,13 failure of third motor, master controller will be received through second the 27, second electricity of rotary angle transmitter
The fault-signal that machine controller 29 and CAN bus are transmitted, then master controller by CAN bus to the second electric machine controller 29
The signal closed the second motor 28 and detach the second electromagnetic clutch 26 is sent out, the second electric machine controller 29 is made to control the second motor
28 close and detach the second electromagnetic clutch 26；And master controller is received through third rotary angle transmitter 12, third electric machine controller
14 and the fault-signal that is transmitted of CAN bus, then master controller closing is sent out to third electric machine controller 14 by CAN bus
The signal of third motor 13 and separation third electromagnetic clutch 11, make third electric machine controller 14 control third motor 13 close and
Detach third electromagnetic clutch 11.The first motor 23 is still as angle electrical machinery at this time, with this ensure steering wheel and wheel steering angle it
Between angle proportionate relationship.
4) when breaking down in three steering motors there are three motor, master controller will be received respectively by three rotation angular sensings
The fault-signal that device is transmitted, so as to by CAN bus to three steering motor controllers send out close three steering motors and
The signal of corresponding electromagnetic clutch is detached, makes electric machine controller that three steering motors be controlled to close and detach corresponding electromagnetic clutch
Device.Master controller will send the control signal for combining main electromagnetic clutch by CAN bus to main electromagnetic clutch simultaneously, make master
Electromagnetic clutch combines.Steering becomes traditional mechanical steering system at this time, and the corner of steering is with torque by driving
Member directly controls.
For the present invention by three motor parallels in the mechanical structure of steering, master controller detects 3 motors in real time
State, according to circumstances distribute the task of each steering motor, effectively raise the fault-tolerant ability of steering, and at some
In the case of add in additional torque, accelerate the response speed of system, so as to improve the travel safety of automobile.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (8)
1. a kind of more motor wire-controlled steering systems with fault tolerance, which is characterized in that the system include master controller,
Can buses, turn to axle module, steering wheel angle torque sensor, main electromagnetic clutch, the first motor mould at power sense motor module
Block, the second motor module and third motor module, the master controller respectively by can bus attachment force senses motor module,
First motor module, the second motor module and third motor module, first motor module are connect with steering gear pinion gear,
The second motor module connection steering gear rack, third motor module connection turn to axle module, the steering
Axle module connects steering wheel and steering gear pinion gear respectively, the master controller also respectively with steering wheel angle torque sensor
It is connected with main electromagnetic clutch.
2. a kind of more motor wire-controlled steering systems with fault tolerance according to claim 1, which is characterized in that described
Power sense motor module include sequentially connected power electrification machine controller (6), power electrification machine (5) and power sense motor torque coupler
(4), the power electrification machine controller (6) connection can buses, the power sense motor torque coupler (4) connection steering shaft
Module.
3. a kind of more motor wire-controlled steering systems with fault tolerance according to claim 1, which is characterized in that described
Steering axle module include the first steering shaft, the second steering shaft (15) and third steering shaft (17), the steering wheel angle turn
Square sensor (3) and main electromagnetic clutch (7) may be contained in the first steering shaft, first steering shaft and the second steering shaft
(15) it is connected by the first universal joint (9), second steering shaft (15) passes through the second universal joint with third steering shaft (17)
(16) it connects, the third steering shaft (17) connection steering gear.
4. a kind of more motor wire-controlled steering systems with fault tolerance according to claim 3, which is characterized in that described
Third motor module include sequentially connected third electric machine controller (14), third motor (13), third rotary angle transmitter
(12), third electromagnetic clutch (11) and third moment coupling device (10), the third electric machine controller (14) connection can are total
Line, the third moment coupling device (10) are set in the second steering shaft (15), the third electromagnetic clutch (11) and
Third rotary angle transmitter (12) connects third electric machine controller (14) respectively.
5. a kind of more motor wire-controlled steering systems with fault tolerance according to claim 1, which is characterized in that described
The first motor module include sequentially connected first electric machine controller (24), the first motor (23), the first rotary angle transmitter
(22), the first electromagnetic clutch (21) and the first moment coupling device (20), first electric machine controller (24) connection can are total
Line, the first moment coupling device (20) connection steering gear pinion gear (18), the first electromagnetic clutch (21) and the first corner
Sensor (22) connects the first electric machine controller (24) respectively.
6. a kind of more motor wire-controlled steering systems with fault tolerance according to claim 1, which is characterized in that described
The second motor module include sequentially connected second electric machine controller (29), the second motor (28), the second rotary angle transmitter
(27), the second electromagnetic clutch (26) and the second moment coupling device (25), second electric machine controller (29) connection can are total
Line, the second moment coupling device (25) connection steering gear rack (19), the second electromagnetic clutch (26) and the second corner pass
Sensor (27) connects the second electric machine controller (29) respectively.
It is 7. a kind of using a kind of more motor wire-controlled steering systems with fault tolerance of claim 1~6 any one of them
Control method, which is characterized in that the method includes the following steps：
Rotary angle transmitter in S1, master controller reception speed signal, steering wheel angle torque sensor signal and each motor module
Signal, master controller give power electrification machine by can buses output torque, and master controller distinguishes output torque extremely by can buses
First electric machine controller, the second electric machine controller and third electric machine controller,
When torque needed for system can be provided torque capacity less than the first motor, then step S2 is gone to, when torque is big needed for system
Torque capacity is can be provided in the first motor and can be provided the sum of torque capacity less than or equal to the first motor and the second motor, then is turned
To step S3, when torque needed for system can be provided the sum of torque capacity less than or equal to first more than the first motor and the second motor
Motor, the second motor and third motor can be provided the sum of torque capacity, then go to step S4, when torque needed for system is more than the
One motor, the second motor and third motor can be provided the sum of torque capacity, then go to step S5；
S2, start the work of the first motor, the first motor is as angle electrical machinery；
S3, the first motor are operated at full capacity as angle electrical machinery, while start the second motor as torque motor；
S4, the first motor and the second motor are operated at full capacity, while start third motor, and the first motor is as angle electrical machinery, and
Two motors and third motor are as torque motor；
S5, the first motor, the second motor and third motor are operated at full capacity simultaneously, while main controller controls electromagnetic clutch knot
It closes, steering gear is controlled by steering wheel simultaneously, the first motor is as angle electrical machinery, the second motor and third motor as torque electricity
Machine.
8. a kind of control method according to claim 7, which is characterized in that have in the step S1 when in three motors
When one motor breaks down, then the corresponding electromagnetic clutch of the corresponding electric machine controller control faulty motor of faulty motor divides
From, and closing fault motor, using remaining two motors as angle electrical machinery and torque motor, there are two in three motors
When motor breaks down, then the corresponding electromagnetic clutch separation of the corresponding electric machine controller control faulty motor of faulty motor, and
Closing fault motor, using a remaining motor as angle electrical machinery, when three motors break down, then faulty motor corresponds to
The corresponding electromagnetic clutch separation of electric machine controller control faulty motor, and closing fault motor, the main electricity of main controller controls
Magnet clutch combines.
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Application publication date: 20180706 |