CN108749916B - Multi-mode steer-by-wire device and control method thereof - Google Patents
Multi-mode steer-by-wire device and control method thereof Download PDFInfo
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- CN108749916B CN108749916B CN201810749994.5A CN201810749994A CN108749916B CN 108749916 B CN108749916 B CN 108749916B CN 201810749994 A CN201810749994 A CN 201810749994A CN 108749916 B CN108749916 B CN 108749916B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a multi-mode steer-by-wire device, which belongs to the technical field of steering-by-wire of automobiles, and comprises a second planetary gear train and a first planetary gear train which are sequentially arranged on an output shaft of an automobile; the first planetary gear train and the second planetary gear train are respectively controlled by a motor, and the working modes of the planetary gear trains are controlled by a motor controller and a whole vehicle controller; the invention also discloses a control method thereof, which is characterized in that the motor and the inner gear ring electromagnetic clutch are respectively controlled to be switched into four different working modes of pure mechanical steering, electric power-assisted steering, wire control steering and automatic driving, and in addition to the pure mechanical steering, in other three modes, when one motor fails, the main shaft is locked under the action of the electromagnetic brake, and the other motor is started to serve as a power source; when two motors fail at the same time, the invention automatically enters a pure mechanical steering mode, no extra control is needed, and the steering reliability is ensured to the greatest extent.
Description
Technical Field
The invention belongs to the technical field of automobile active steering, and particularly relates to an automobile steer-by-wire technology, in particular to a multi-mode steer-by-wire device and a control method thereof.
Background
Automobile intellectualization is rapidly developing, and steering-by-wire is a key link in the automobile intellectualization development process, especially one of the necessary technologies for unmanned driving. Steering-by-wire technology is gradually mature and has been applied to a small number of vehicle types. The steer-by-wire system is required to have redundancy and fault tolerance functions, not only is a diagnosis and fault tolerance control algorithm realized on software, but also hardware is required to be subjected to redundancy design, so that the hardware arrangement of the steer-by-wire system is complex, the cost is high, and the hardware utilization rate is low.
At present, a lot of steer-by-wire technology researches exist, wherein a double-motor redundant steer-by-wire system designed by Infeinidi corporation is successfully applied to a real vehicle, motor tachometers are respectively designed at the left end and the right end of a rack to drive a steering gear pinion to drive the rack to move left and right, a clutch is closed when the rack fails, and the steering gear pinion at the left side is connected with a mechanical steering column to realize steering, but the redundant structure of the system is complex, and the double motors are driven by a speed reducer to steer a tie rod through a rack-and-pinion steering gear, so that the transmission efficiency is low.
Korean modern automobile company proposed a steer-by-wire apparatus and method of a double motor-driven rack (patent No. US201600144890 A1), which did not solve the motor space installation problem and the double motor failure steering mode. Becker et al propose an electrically controlled hydraulic steer-by-wire system (patent number US20160068182A 1), the device controls the pressure of the steering wheel cylinder through two paths of motor pumps, and drives the tie rods at two sides to move left and right, but the response speed of the motor to establish the hydraulic pressure is slow, unreliable factors such as oil leakage, bubbles and the like are increased in a high-pressure oil pipeline, and direct mechanical connection after the steer-by-wire failure cannot be realized.
In the bud, an electric automobile drive-by-wire steering system and a control method (patent application number 201310649410.4) are designed, the system designs a steering wheel force feedback motor and a worm reducer to simulate road feel, a steering motor and a planetary gear reducer drive a steering gear pinion to realize steering, a motor and a planetary gear reducer are additionally arranged near the steering gear, more arrangement space is required to be occupied, the working efficiency of the motor is reduced through the transmission of a rack-and-pinion steering gear, and a steering mode of failure of the motor cannot be realized.
Li Shaosong A drive steering coupling device for front wheels of automobiles based on double-row planetary gear trains (patent application No. 201610907896.0) is designed, and comprises a power driving device arranged on a shell and a mechanical transmission device arranged in the shell, wherein power of a manual input part is transmitted through an input shaft, and a turning angle assisting motor part is transmitted and coupled through a turbine worm to be externally output through a gear ring, so that variable transmission ratio transmission is realized, and the steering process is safer and more flexible. But the device adopts the design of single motor, and the transmission route is complicated, has reduced motor work efficiency, and can not realize the steering mode that the motor became invalid.
A hybrid wire-control steering system (patent application number 201610989594.2) of the invention of Yanglin and the like is characterized in that a road-sensing motor and a power-assisted motor are separated, a set of steering execution motor is used for driving a double-row planetary gear reducer, a worm and a rack are used for driving a tie rod to move left and right, a steering wheel unit and a steering wheel have real-time controllable force transmission characteristic and angle transmission characteristic, and when the system fails, the system is restored to a mechanical steering state through a clutch, but the system is complex in structure and low in transmission efficiency.
In summary, the existing steer-by-wire system has the contradiction between low transmission efficiency, complex structure, difficult spatial arrangement and redundant and invalid working mode requirements.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a multi-mode steer-by-wire device, wherein a double-row planetary gear train structure is adopted in the device, a steering wheel unit and left and right wheels have real-time controllable force transmission characteristics and angle transmission characteristics, and the functions of switching a pure mechanical steering mode, an electric power steering mode, a steer-by-wire mode, an automatic driving mode and the like are achieved by respectively controlling a brake switch of a motor and a suction switch of an electromagnetic clutch of an inner gear ring, so that the pure mechanical steering state is automatically recovered when a system fails, and the safety regulation requirements are completely met.
The invention is realized in the following way:
a multimode steer-by-wire device comprises a rack, wherein a pinion is arranged on the rack; an output shaft is arranged above the pinion; a second planetary gear train and a first planetary gear train are sequentially connected above the output shaft; the output shaft is also sequentially connected with a steering wheel sensor and a steering wheel unit above the first planetary gear train.
The first planetary gear train is controlled by a first motor; the second planetary gear train is controlled by a second motor; the first planetary gear train comprises a first sun gear, a first planet carrier, a first planet wheel and an inner gear ring; the second planetary gear train comprises a second planet wheel, a second sun wheel, a second planet carrier and an inner gear ring; the inner gear ring is meshed with the first planetary gear and the second planetary gear simultaneously, and the first planetary gear train and the second planetary gear train are connected through the inner gear ring and transmit rotation angles and torque; an inner gear ring electromagnetic clutch is arranged outside the inner gear ring, and the inner gear ring electromagnetic clutch is in signal connection with the whole vehicle controller; the first motor (M1) and the second motor (M2) are respectively connected with a Vehicle Control Unit (VCU) through signals of the first motor controller (MCU 1) and the second motor controller (MCU 2).
Further, the two sides of the rack are sequentially and symmetrically provided with a steering tie rod, a trapezoid arm and a steering knuckle; the left wheel and the right wheel are connected through steering knuckles at two sides.
Further, the output shaft is rigidly connected with the first sun gear and is connected with the first planet carrier through a bearing; the output shaft is rigidly connected with the second sun gear and is connected with the second planet carrier through a bearing.
Further, the first planet carrier is connected with the first motor; the second planet carrier is connected with a second motor.
Further, the steering wheel sensor transmits steering wheel angle and torque information to the whole vehicle controller. Further, the first motor and the second motor are both provided with electromagnetic brakes, and the motor main shaft can be automatically locked under the condition of active control or passive power failure.
The invention also discloses a control method of the multi-mode wire control steering device, which is characterized in that four different working modes are switched by respectively controlling a brake switch of the first motor and the second motor and an actuation switch of an electromagnetic clutch of the inner gear ring, the electromagnetic clutch of the inner gear ring works in a normally closed mode, and at the moment, the inner gear ring is locked and can not rotate freely. Only under the condition of active control or passive power failure, the clutch is separated under the action of the elastic force of the spring, and the annular gear can rotate freely.
The specific four control modes are specifically as follows:
the VCU automatically controls the device to work in 3 modes of electric power assisting, steering by wire or automatic driving according to a control instruction input by a driver, and simultaneously automatically switches the working mode according to fault information: 1) No failure: the first planetary gear train and the second planetary gear train transmit motor driving moment to drive the pinion and the rack, so as to realize steering task; 2) The fault is: and judging whether the motor is in single motor failure or double motor failure, and automatically switching the steering mode by the whole vehicle controller according to the failure information. If the motor is in a single motor fault, the power supply of the fault motor is cut off, and a non-fault motor provides driving torque to ensure that the steering system works normally; if the double motors are in fault, all motor power supplies are cut off, the electromagnetic clutch of the inner gear ring is separated, and the double motors are automatically switched to a pure mechanical steering working mode.
Purely mechanical steering mode: the first motor (M1) and the second motor (M2) are braked, the first planet carrier and the second planet carrier are locked, and the first planet wheel and the second planet wheel can only rotate and cannot revolve; the power is input from the steering wheel unit and is transmitted to the pinion and the rack through the first sun gear, the first planet gear, the inner gear ring, the second planet gear, the second sun gear and the output shaft;
electric power steering mode: the first motor is braked, the first planet carrier is locked, and the first planet wheel can only rotate; the electromagnetic clutch of the inner gear ring is separated, and the inner gear ring can rotate freely; the two power sources are input from the steering wheel unit, and one power source passes through the first sun gear, the first planet gear and the inner gear ring; the second motor is input, and power coupling with the inner gear ring after passing through the second planet carrier and the second planet wheel acts on the second sun wheel together and is finally transmitted to the pinion and the rack;
steer-by-wire mode: the electromagnetic clutch of the inner gear ring is closed, and the inner gear ring is locked; at the moment, the first motor is used as a road feel motor, and road feel feedback is provided for the steering wheel unit through the first planet carrier, the first planet gears and the first sun gear; the second motor is used as a steering motor, and finally is transmitted to the pinion and the rack through the second planet carrier, the second planet wheel and the second sun wheel to finish steering action;
automatic driving mode: the first motor is braked, the electromagnetic clutch of the inner gear ring is closed, and the first planet carrier and the inner gear ring are locked; at this time, the steering wheel unit is motionless, and the motor second motor is regarded as the steering motor, through second planet carrier, second planet wheel, second sun gear, finally transmit to with pinion and rack, accomplish the steering action.
Further, according to the three modes of electric power steering, steer-by-wire and automatic driving, whether the system is faulty or not is diagnosed;
1) No failure: the first planetary gear train and the second planetary gear train transmit motor driving moment to drive the pinion, the rack, the steering tie rod, the trapezoid arm and the knuckle, so as to realize the steering task of the automobile wheels;
2) The fault is: and judging whether the motor is in single motor failure or double motor failure.
When judging that the single motor fails: cutting off the power supply of a fault motor, automatically closing a fault electromagnetic brake, locking a planet carrier controlled by a corresponding motor, calculating the driving current of a non-fault motor, and providing driving moment through the non-fault motor to ensure the normal transmission of a steering instruction;
when judging that the double motors have faults: simultaneously, the power supply of the two fault motors is cut off, the fault motor electromagnetic brake is automatically closed, the planetary carriers correspondingly controlled by the two fault motors are locked, the inner gear ring electromagnetic clutch is separated, no additional control is needed, and the steering reliability is guaranteed to the greatest extent.
The beneficial effects of the invention compared with the prior art are as follows:
the device has compact structure and easy arrangement: the invention adopts a double-row planetary gear train structure, fully utilizes the radial space between the input shaft and the first planetary gear train as well as between the input shaft and the second planetary gear train as well as between the output shaft to reduce the size of the motor, and does not increase a motor speed reducing mechanism near a pinion and a rack, and can use the traditional mechanical steering system arrangement mode, so the device has the advantage of simple space arrangement;
the transmission efficiency is high: the invention adopts a planetary gear mechanism, and has high transmission efficiency. The motor does not need to be additionally provided with an additional speed reducing mechanism, and directly transmits the driving pinion, the rack and the steering pinion, so that the transmission efficiency can be improved;
the fault tolerance rate is high, and the security performance is good: the invention adopts a double-motor structure, which is mutually backup, besides pure mechanical steering, in other three modes, when one motor fails, the main shaft is locked under the action of the electromagnetic brake, and simultaneously, the VCU detects that the motor fails and starts the other motor to serve as a power source, so that the normal transmission of steering instructions is ensured; when two motors fail at the same time, the invention automatically enters a pure mechanical steering mode, no extra control is needed, and the steering reliability is ensured to the greatest extent;
high-speed running is stable: the method can ensure the stability of the steering-by-wire process by controlling the accurate displacement of the pinion, and the steering damping force can be provided by the inversion of the second motor when the automobile runs at high speed, so that the steering stability of the automobile is improved.
Drawings
FIG. 1 is a schematic illustration of a multimode steer-by-wire apparatus of the present invention;
FIG. 2 is a flow chart of a method of controlling a multimode steer-by-wire apparatus of the present invention;
FIG. 3 is a diagram of the power transmission paths of the modes in a multimode steer-by-wire apparatus of the present invention;
the device comprises a 1-steering wheel unit, a 2-steering wheel sensor, a 3-first sun gear, a 4-first planet carrier, a 5-first planet gear, a 6-inner gear ring, a 7-inner gear ring electromagnetic clutch, an 8-second planet gear, a 9-second planet carrier, a 10-second sun gear, a 11-second motor, a 12-first motor, a 13-first motor controller, a 14-second motor controller, a 15-whole vehicle controller, a 16-pinion gear, a 17-rack, a 18-steering tie rod, a 19-trapezoid arm, a 20-steering knuckle, a 21-input shaft, a 22-output shaft and 23-wheels.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be noted that the detailed description herein is for purposes of illustration only and is not intended to limit the invention.
The multimode steer-by-wire apparatus of the present invention includes a steering wheel unit 1, a steering wheel sensor 2, a first planetary gear train, a second planetary gear train, and a pinion 16, which are sequentially connected to the steering wheel unit 1 through an output shaft 22. The pinion 16 is connected with a rack 17, and a tie rod 18, a trapezoid arm 19 and a knuckle 20 are sequentially and symmetrically arranged at two sides of the rack 17; left and right wheels 23 are connected by knuckles 20 on both sides.
The first planetary gear train comprises a first sun gear 3, a first planet carrier 4, a first planet wheel 5 and an annular gear 6; the second planetary gear train comprises a second planet wheel 8, a second sun wheel 10, a second planet carrier 9 and an inner gear ring 6; the first planet carrier 4 is connected with a first motor 12; the second planet carrier 8 is connected with a second motor 11. The first planetary gear train and the second planetary gear train are connected in series through the annular gear 6, and the specific connection relation is as follows: the first sun gear 3, the first carrier 4, the first planet gears 5, the ring gear 6, the second planet gears 8, the second carrier 9, and the second sun gear 10 are connected to the input shaft 22.
The input shaft 21 is rigidly connected with the first sun gear 3 and is connected with the first planet carrier 4 through a bearing; the output shaft 22 is rigidly connected to the second sun gear 10 and to the second planet carrier 8 via bearings.
The first planetary gear train and the second planetary gear train are connected by sharing one ring gear, specifically, the ring gear 6 is simultaneously meshed with the first planetary gear 5 and the second planetary gear 8, so that the first planetary gear train and the second planetary gear train can mutually transmit rotation angle and torque. The first motor 12 and the second motor 11 are both provided with electromagnetic brakes, and the motor main shaft can be automatically locked under the condition of active control or passive power failure. The inner gear ring electromagnetic clutch 7 works in a normally closed mode, and the inner gear ring 6 is locked and can not rotate freely. Only in the case of active control or passive power failure, the clutch is disengaged due to the spring force, and the ring gear 6 can rotate freely.
By controlling the brake switch of the first motor 12 and the second motor 11 and the engaging switch of the inner gear ring electromagnetic clutch 7 respectively, four different working modes are switched, the inner gear ring electromagnetic clutch 7 works in a normally closed mode, and at the moment, the inner gear ring 6 is locked and can not rotate freely. Only in the case of active control or passive power failure, the clutch is disengaged due to the spring force, and the ring gear 6 can rotate freely.
As shown in fig. 2, signals such as steering wheel rotation angle, steering wheel torque, vehicle speed, yaw rate, pinion rotation angle and the like are collected by the vehicle controller 15 through the steering wheel sensor 2 and the like, and then the working models are judged, and the working models are specifically divided into four different working models, namely, four modes of pure mechanical steering, electric power steering, steer-by-wire and automatic driving. In the normal running process, the invention mainly works in a wire control steering mode. When the steer-by-wire mode fails, such as the second motor 11 fails, the vehicle controller 15 detects a failure signal and actively cuts off power supply to the second motor 11 to brake the second motor, the motor main shaft is locked, and the second planet carrier 9 is locked. Meanwhile, the control strategy of the first motor 12 is changed, the motor is switched to a steering power-assisted mode from a road feel feedback working mode, the inner gear ring electromagnetic clutch 7 is separated, and the system is switched to an electric power-assisted steering mode from a steer-by-wire mode so as to keep the normal steering function and wait for maintenance after the vehicle is safe.
When receiving the automatic driving instruction sent by the driver, the system automatically works in the automatic driving mode, and the steering wheel unit 1 is in a free state at this time, and the steering wheel input does not influence the steering of the system. When the motor sends a fault, the VCU15 detects the fault signal and determines a single motor fault or a double motor fault. If the motor is in a single motor fault, the system is switched to an electric power-assisted mode; if the double-motor fault occurs, the system is switched to a pure mechanical steering mode, so that the normal steering function of the vehicle is ensured.
As shown in fig. 2-3, a detailed description of four different working models is as follows:
purely mechanical steering mode: the first motor 12 and the second motor 11 are braked, the first planet carrier 4 and the second planet carrier 9 are locked, and the first planet wheel 5 and the second planet wheel 8 can only rotate and cannot revolve. Power is input from the steering wheel unit 1, and transmitted to the pinion 16 and the rack 17 via the first sun gear 3, the first planetary gear 5, the ring gear 6, the second planetary gear 8, the second sun gear 10, and the output shaft 12.
Electric power steering mode: the first motor 12 brakes, the first carrier 4 is locked, and the first planet gears 5 can only rotate. The inner gear ring electromagnetic clutch 7 is separated, and the inner gear ring 6 can rotate freely. The two power sources are one of which is the hand force of a driver, and the hand force is input from the steering wheel unit 1, passes through the first sun wheel 3, the first planet wheel 5 and the inner gear ring 6; and secondly, a second motor 11 is coupled with the power of the inner gear ring 6 after passing through the second planet carrier 9 and the second planet gears 8, acts on the second sun gear 10 together and finally is transmitted to a pinion 16 and a rack 17. In the electric power steering mode, it is diagnosed whether the system is faulty and whether it is a single motor fault or a double motor fault, in particular:
when the second motor 11 fails, the VCU15 detects a failure signal, actively cuts off power supply to the second motor 11, brakes the second motor, locks the motor spindle, and locks the second planet carrier 9. Meanwhile, the control strategy of the first motor 12 of the motor is changed to switch to a steering power-assisted mode so as to keep the normal steering function and wait for maintenance after the safety of the vehicle;
when the first motor 12 and the second motor 11 fail simultaneously, the VCU15 detects a failure signal, and simultaneously actively cuts off power supply to the first motor 12 and the second motor 11 to brake the same, the motor main shaft is locked, the first planet carrier 4 and the second planet carrier 9 are locked, and the system is switched to a pure mechanical steering mode.
Steer-by-wire mode: the ring gear electromagnetic clutch 7 is closed and the ring gear 6 is locked. At this time, the first motor 12 serves as a road-sensing motor, providing road-sensing feedback to the steering wheel 1 through the first carrier 4, the first planet gears 5, the first sun gear 3; the second motor 11 serves as a steering motor, and finally, is transmitted to the pinion 16 and the rack 17 through the second planet carrier 9, the second planet gears 8 and the second sun gear 10, and drives the tie rod 18, the trapezoid arm 19 and the knuckle 20 to complete steering operation on the wheels 23. In the steer-by-wire mode, diagnosing whether the system is faulty and whether it is a single motor fault or a dual motor fault, in particular:
when the second motor 11 fails, the VCU15 detects a failure signal, actively cuts off power supply to the second motor 11, brakes the second motor, locks the motor spindle, and locks the second planet carrier 9. Meanwhile, the control strategy of the first motor 12 is changed, the steering power-assisted mode is switched from the road feel feedback working mode, the inner gear ring electromagnetic clutch 7 is separated, the system is switched from the steer-by-wire mode to the electric power-assisted steering mode, so that the normal steering function is maintained, and the maintenance is carried out after the vehicle is waited for safety.
When the first motor 12 and the second motor 11 simultaneously fail, the VCU detects a failure signal, and simultaneously disconnects the power supply to the first motor 12 and the second motor 11 actively to brake the same, the motor main shaft is locked, the first planet carrier 4 and the second planet carrier 9 are locked, and the system is switched to a pure mechanical steering mode.
Automatic driving mode: the first motor 12 is braked, the ring gear electromagnetic clutch 7 is closed, and the first planet carrier 4 and the ring gear 6 are locked. At this time, the steering wheel 1 is stationary, and the second motor 11 serves as a steering motor, and finally, is transmitted to the pinion 16 and the rack 17 via the second carrier 9, the second planetary gear 8, and the second sun gear 10, to drive the tie rod 18, the trapezoidal arm 19, and the knuckle 20, thereby completing the steering operation on the wheels 23. In the automatic driving mode, it is diagnosed whether the system is faulty, and whether it is a single motor fault or a double motor fault, in particular:
when the second motor 11 fails, the VCU detects a failure signal, actively cuts off power supply to the second motor 11, brakes the second motor, locks the motor spindle, and locks the second planet carrier 9. Meanwhile, the control strategy of the first motor 12 is changed, the steering power-assisted mode is switched from the road feel feedback working mode, the inner gear ring electromagnetic clutch 7 is separated, the system is switched from the steer-by-wire mode to the electric power-assisted steering mode, so that the normal steering function is maintained, and the maintenance is carried out after the vehicle is waited for safety.
When the first motor 12 and the second motor 11 fail simultaneously, the VCU15 detects a failure signal, and simultaneously disconnects the power supply to the first motor 12 and the second motor 11 actively to brake the same, the motor main shaft is locked, the first planet carrier 4 and the second planet carrier 9 are locked, and the system is switched to a pure mechanical steering mode.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (5)
1. The multimode steer-by-wire device is characterized by comprising a rack (17), wherein a pinion (16) is arranged on the rack (17);
an input shaft (21) and an output shaft (22) are arranged above the pinion (16);
a first planetary gear train and a second planetary gear train are sequentially inserted between the input shaft (21) and the output shaft (22); the first planetary gear train is driven by a first motor (12); the second planetary gear train is driven by a second motor (11);
a steering wheel sensor (2) and a steering wheel unit (1) are also connected above the first planetary gear train in sequence through an input shaft (21);
the first planetary gear train comprises a first sun gear (3), a first planet carrier (4), a first planet gear (5) and an inner gear ring (6); the second planetary gear train comprises a second planetary gear (8), a second sun gear (10), a second planet carrier (9) and an inner gear ring (6);
the inner gear ring (6) is meshed with the first planet wheel (5) and the second planet wheel (8) at the same time;
an inner gear ring electromagnetic clutch (7) is arranged outside the inner gear ring (6), and the inner gear ring electromagnetic clutch (7) is in signal connection with a whole vehicle controller (15);
the first motor (12) and the second motor (11) are respectively connected with the whole vehicle controller (15) through signals of the first motor controller (13) and the second motor controller (14);
the input shaft (21) is rigidly connected with the first sun gear (3) and is connected with the first planet carrier (4) through a bearing; the output shaft (22) is rigidly connected with the second sun gear (10) and is connected with the second planet carrier (9) through a bearing; the first planet carrier (4) is connected with the first motor (12); the second planet carrier (9) is connected with a second motor (11); the two sides of the rack (17) are sequentially and symmetrically provided with a steering tie rod (18), a trapezoid arm (19) and a steering knuckle (20); left and right wheels (23) are connected by knuckles (20) on both sides.
2. A multimode steer-by-wire device as claimed in claim 1, characterized in that said steering wheel sensor (2) transmits information to a vehicle control unit (15).
3. A multimode steer-by-wire device according to claim 1, characterized in that said first motor (12) and said second motor (11) are each provided with an electromagnetic brake.
4. A control method of a multimode steer-by-wire device according to any one of claims 1 to 3, characterized in that the control method is switched to four different control modes of purely mechanical steering, electric power steering, steer-by-wire and automatic driving by controlling the brake switches of the first motor (12) and the second motor (11) and the actuation switch of the ring gear electromagnetic clutch (7) respectively, specifically as follows:
purely mechanical steering mode: the first motor (12) and the second motor (11) are braked, the first planet carrier (4) and the second planet carrier (9) are locked, and the first planet wheel (5) and the second planet wheel (8) can only rotate and can not revolve; the power is input from the steering wheel unit (1), and is transmitted to the pinion (16) and the rack (17) through the first sun gear (3), the first planet gear (5), the inner gear ring (6), the second planet gear (8), the second sun gear (10) and the output shaft (22);
electric power steering mode: the first motor (12) is braked, the first planet carrier (4) is locked, and the first planet wheel (5) can only rotate; the inner gear ring electromagnetic clutch (7) is separated, and the inner gear ring (6) can rotate freely; the two power sources are input from the steering wheel unit (1), and pass through the first sun gear (3), the first planet gears (5) and the inner gear ring (6); the second motor (11) is input, and is coupled with the power of the inner gear ring (6) after passing through the second planet carrier (9) and the second planet wheel (8), acts on the second sun wheel (10) together, and finally is transmitted to the pinion (16) and the rack (17);
steer-by-wire mode: the inner gear ring electromagnetic clutch (7) is closed, and the inner gear ring (6) is locked; at the moment, the first motor (12) is used as a road feel motor, and road feel feedback is provided for the steering wheel unit (1) through the first planet carrier (4), the first planet gears (5) and the first sun gear (3); the second motor (11) is used as a steering motor, and is transmitted to a pinion (16) and a rack (17) through a second planet carrier (9), a second planet wheel (8) and a second sun wheel (10) to finish steering action;
automatic driving mode: the first motor (12) is braked, the inner gear ring electromagnetic clutch (7) is closed, and the first planet carrier (4) and the inner gear ring (6) are locked; at this time, the steering wheel unit (1) is stationary, and the motor second motor (11) serves as a steering motor, passes through the second planet carrier (9), the second planet wheel (8) and the second sun wheel (10), and finally is transmitted to the pinion (16) and the rack (17), thereby completing the steering operation.
5. The control method of a multimode steer-by-wire apparatus according to claim 4, wherein whether the diagnostic system is faulty or not is determined in accordance with three modes of electric power steering, steer-by-wire, and automatic driving;
1) No failure: the first planetary gear train and the second planetary gear train transmit motor driving moment to drive the pinion (16) and the rack (17) so as to realize steering task;
2) The fault is: and determines whether it is a single motor fault or a double motor fault.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810749994.5A CN108749916B (en) | 2018-07-10 | 2018-07-10 | Multi-mode steer-by-wire device and control method thereof |
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| CN109606457B (en) * | 2018-11-30 | 2021-04-20 | 江苏大学 | Steering column pipe, steering system and vehicle |
| CN109733465B (en) * | 2018-12-19 | 2021-07-20 | 江苏大学 | Fault-tolerant device and method for steering system and vehicle |
| CN109733469A (en) * | 2019-01-28 | 2019-05-10 | 北京华田汽车科技有限公司 | The automatically controlled steering system of multi power source actuation |
| CN110712677B (en) * | 2019-11-29 | 2024-02-27 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
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| CN111284333B (en) * | 2020-02-11 | 2022-09-16 | 江苏大学 | Automatic driving vehicle and high-efficiency double-motor driving steering coupling system and control method thereof |
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| KR20220064457A (en) * | 2020-11-11 | 2022-05-19 | 현대자동차주식회사 | Control method for converting steering control rights in autonomous vehicles |
| KR20220121284A (en) * | 2021-02-24 | 2022-09-01 | 현대자동차주식회사 | Apparatus for examining for damage of drivetrain of vehicle and method thereof |
| CN113788067B (en) * | 2021-11-16 | 2022-03-11 | 天津所托瑞安汽车科技有限公司 | Dual power steering system and method |
| CN114802423B (en) * | 2022-04-29 | 2023-04-28 | 吉林大学 | Drive-by-wire turns to road feel analog system with mechanical redundancy |
| CN118514744A (en) * | 2023-02-17 | 2024-08-20 | 上海集度汽车有限公司 | Steering device, steering method, vehicle and product |
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