CN111055918A - Dual-motor steer-by-wire system based on dual-winding motor and control method thereof - Google Patents

Dual-motor steer-by-wire system based on dual-winding motor and control method thereof Download PDF

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Publication number
CN111055918A
CN111055918A CN201911308231.8A CN201911308231A CN111055918A CN 111055918 A CN111055918 A CN 111055918A CN 201911308231 A CN201911308231 A CN 201911308231A CN 111055918 A CN111055918 A CN 111055918A
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China
Prior art keywords
motor
steering
winding
double
contact
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CN201911308231.8A
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Chinese (zh)
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CN111055918B (en
Inventor
赵万忠
周小川
周长志
高犇
王春燕
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to PCT/CN2020/090295 priority patent/WO2021120508A1/en
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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
    • B62D5/0442—Conversion of rotational into longitudinal movement
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/12—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/1004—Structural association with clutches, brakes, gears, pulleys or mechanical starters with pulleys
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
    • H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a dual-motor steer-by-wire system based on a dual-winding motor and a control method thereof, wherein the system comprises: the steering wheel, the steering column assembly, the road feel assembly, the double-motor steering actuating device, the steering control unit and the electromagnetic clutch; the double-winding electric hydraulic power-assisted steering system integrates the functions of the double-winding motor, and the working mode that two windings of the double-winding motor work simultaneously can output larger torque compared with a single-winding motor, and has higher response speed and lower energy consumption compared with a double-winding electric hydraulic power-assisted steering system.

Description

Dual-motor steer-by-wire system based on dual-winding motor and control method thereof
Technical Field
The invention belongs to the technical field of automobile steering systems, and particularly relates to a dual-motor steer-by-wire system based on a dual-winding motor and a control method thereof.
Background
With the increasing degree of automobile intelligence, each execution module on the automobile tends to be in wire control. The steer-by-wire system can improve the safety performance of the automobile, improve the driving characteristics, enhance the maneuverability, provide more real road feel for the driver, and become a hotspot of current research of people.
In the existing steer-by-wire system, chinese patent application No. CN201711344340.6 discloses a steering system in which two motors drive a steering rack to move through a planetary gear mechanism, and further drive a tie rod to move to complete a steering action; chinese patent application No. CN201711346835.2 discloses a multi-motor steer-by-wire system in which one motor is disposed on a lower steering column, and the other two motors are disposed on a tie rod, and the number of working motors is determined according to the magnitude of torque required for steering; however, due to the limitations of installation space and cost, the motors of the steer-by-wire system are often low in power, the two-motor steer-by-wire system has the problem of low steering torque, and the multi-motor steer-by-wire system has the problems of large installation space and high cost.
In order to solve the above problems, chinese patent application No. CN201510946353.5 discloses a dual-winding motor electric hydraulic power steering system that uses a dual-winding motor to drive an oil pump to provide hydraulic power to drive a lower steering column to rotate, and then drives a steering tie rod to move through a steering gear to complete steering, which can provide a large steering torque, but the hydraulic power steering system has the problems of large energy consumption and response speed inferior to that of electric power steering.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a dual-motor steer-by-wire system based on a dual-winding motor and a control method thereof, so as to solve the problem that it is difficult to achieve a large steering torque and a fast response speed of the steering system in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a dual-motor steer-by-wire system based on a dual-winding motor, which comprises: the steering wheel, the steering column assembly, the road feel assembly, the double-motor steering actuating device, the steering control unit and the electromagnetic clutch; wherein the content of the first and second substances,
the steering wheel is connected with a steering column assembly, and the steering column assembly comprises: the steering system comprises a first steering column, a first torque sensor and a corner sensor; the acting force input by the steering wheel acts on the road sensing assembly through a first steering column, and a first torque sensor and a corner sensor are fixedly mounted on the first steering column respectively;
the road feel assembly includes: the road sensing motor, the second torque sensor and the first worm and gear; the output end of the road sensing motor is connected with the worm wheel end of the first worm gear through a second torque sensor, and the worm end of the first worm gear is fixed on the first steering column; the feedback torque output by the road sensing motor is transmitted to the steering wheel through the first worm and gear and the first steering column in sequence;
the dual-motor steering actuator includes: the device comprises a first motor module, a double-winding motor module, a steering tie rod, a steering trapezoid and a steering wheel;
the first electric machine module includes: the system comprises a first motor, a third torque sensor, a one-way clutch, a second worm gear, a second steering column, a ball screw and a displacement sensor; the displacement sensor is arranged on the ball screw, and the output end of the first motor is connected to a nut of the ball screw through a third torque sensor, a one-way clutch, a second worm and gear and a second steering column in sequence; the two ends of the ball screw are axially and fixedly connected with the two broken ports of the tie rod; the rotary motion output by the first motor is converted into rotary motion of a second steering column through the one-way clutch and the second worm gear, and the rotary motion of the second steering column is converted into displacement motion of a tie rod through the ball screw;
the double winding motor module includes: the device comprises a relay control unit, a double-winding motor, a first current sensor, a second current sensor and a speed reducing mechanism;
the relay control unit includes: a relay controller and a relay; the input end of the relay controller is connected with the steering control unit, and the output end of the relay controller is connected with the relay;
the double winding motor includes: the motor comprises a stator core, a rotor assembly, a base, a first set of windings, a second set of windings and a double-winding motor output shaft;
the first set of windings comprises an A-phase winding, a B-phase winding and a C-phase winding; the second set of windings comprises a phase winding a, a phase winding b and a phase winding c; the input end of the first set of windings is divided into three branches which are respectively connected with the input end of the phase A winding, the input end of the phase B winding and the input end of the phase C winding; the input end of the second set of windings is divided into three branches which are respectively connected with the input end of the phase a winding, the input end of the phase b winding and the input end of the phase c winding;
stator slots are distributed on the stator core, the same phase winding of the first set of winding and the second set of winding is embedded in different stator slots in a staggered electric angle of 30 degrees, and the stator core is fixed on the engine base; the input end of the first set of windings is connected with the first current sensor, and the input end of the second set of windings is connected with the second current sensor;
the rotor assembly includes: a rotor core, a rotor winding; the rotor winding is wound on a rotor iron core, and the rotor iron core is fixed on an output shaft of the double-winding motor; the first set of windings and the second set of windings work simultaneously to generate a synthetic magnetic field, induced current is generated in the rotor windings, the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs torque through the output shaft of the double-winding motor;
the speed reducing mechanism includes: pinion, belt, bull gear; the small gear is axially fixed on the output shaft of the double-winding motor, the belt is connected with the small gear and the large gear, and the large gear is internally provided with threads and is axially sleeved on the ball screw;
the steering control unit includes: a main controller and other state units of the vehicle; the input end of the main controller is electrically connected with the sensors and acquires a first torque signal, a second torque signal, a third torque signal, a first current signal, a second current signal, a corner signal and a steering tie rod displacement signal; the other state units of the vehicle provide a vehicle speed signal and a yaw rate signal of the current vehicle state for the main controller; the output end of the main controller is connected with the road sensing assembly, the electromagnetic clutch, the first motor and the relay control unit;
the electromagnetic clutch includes: the armature, the driving shaft, the driven shaft, the electromagnet and the friction plate group are arranged in the shell; the driving shaft is axially fixed on the first steering column, the driven shaft is axially fixed on the second steering column, the armature is sleeved on the driving shaft and can axially move, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is positioned between the armature and the friction plate group; the electromagnetic clutch control signal output by the main controller controls the on-off of the coil, and further controls the combination and separation of the electromagnetic clutch.
Further, the output shaft of the double-winding motor is arranged in parallel relative to the steering tie rod and is connected to the ball screw through a speed reducing mechanism; the rotary motion of the output shaft of the double-winding motor is converted into the rotary motion of the pinion, the rotary motion of the pinion is converted into the rotary motion of the bull gear through the belt, and the rotary motion of the bull gear is converted into the displacement motion of the steering tie rod through the ball screw.
Furthermore, the nut of the ball screw drives the ball screw to move, and the large gear rotates to drive the screw to move to be superposed on the tie rod, so that the steering trapezoid and the steering wheel are driven to complete steering action.
Further, the double-winding motor is a brushless direct current motor.
Further, the first current sensor and the second current sensor are hall current sensors.
Furthermore, the main controller comprises a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, a motor driving unit and an electromagnetic clutch driving unit; the signal processing unit is electrically connected with the sensors to acquire signals acquired by the sensors in real time, and is electrically connected with other state units of the vehicle to acquire other state signals of the vehicle; the steering decision unit receives input signals of the signal processing unit, the steering database and the diagnosis unit through a vehicle-mounted communication line respectively, outputs instructions to the motor driving unit and the electromagnetic clutch driving unit through the vehicle-mounted communication line respectively after calculation, the motor driving unit outputs control signals of the induction motor, the first motor and the double-winding motor, and the electromagnetic clutch driving unit outputs electromagnetic clutch control signals to complete a steering action control process.
Further, the electromagnet comprises a coil and a magnetic yoke; when the steer-by-wire is normal, the coil is not electrified, the magnet yoke is separated from the armature, the friction plate group does not transmit torque, and the electromagnetic clutch is separated; when the steer-by-wire fails, the coil is electrified, the magnet yoke attracts the armature to tightly press the friction plate set, the friction plate set transmits torque through friction force, and the electromagnetic clutch is combined; the torque of the steering wheel is transmitted to the tie rod, the steering trapezoid and the steering wheel through the first steering column, the electromagnetic clutch, the second steering column and the ball screw, and the steering action is finished.
The invention discloses a control method of a dual-motor steer-by-wire system based on a dual-winding motor, which comprises the following steps based on the system:
1) inputting a steering wheel angle according to the driving condition of the vehicle;
2) the signal processing unit receives a corner signal, a first torque signal, a second torque signal, a third torque signal, a first current signal, a second current signal, a tie rod displacement signal, a vehicle speed signal and a yaw rate signal in real time, obtains a current vehicle state signal through calculation, and transmits the current vehicle state signal to the steering decision unit;
3) the steering decision unit carries out steering decision calculation on the current vehicle state signal according to the expected front wheel turning angle and the expected driving road feeling of the vehicle in each vehicle state stored in the steering database to obtain the expected front wheel turning angle at the next moment and calculate the steering tie rod displacement corresponding to the expected front wheel turning angle at the next moment; meanwhile, the expected driving road feeling at the next moment is obtained, and the steering column torque corresponding to the expected driving road feeling at the next moment is calculated; the steering decision unit outputs instructions to the motor driving unit and the electromagnetic clutch control unit;
4) the diagnosis unit detects whether the system works normally or not in the running process of the vehicle, the motor driving unit selects different working modes according to an output instruction of the steering decision unit, and outputs a road sensing motor control signal, a first motor control signal and a double-winding motor control signal containing working states of a first set of winding and a second set of winding respectively, and the relay controller judges the working states of the first set of winding and the second set of winding according to the double-winding motor control signal so as to control the connection mode of contacts in the relay; meanwhile, the electromagnetic clutch driving unit outputs an electromagnetic clutch control signal according to an output instruction of the steering decision unit to control the combination and the separation of the electromagnetic clutch.
Further, the step 4) of selecting the working mode of the motor driving unit specifically includes the following steps:
41) when the boosting torque required by the system is less than or equal to the maximum boosting torque which can be provided by the first motor, the one-way clutch is closed, the first motor is started, the first motor serves as a corner motor, and the displacement of a steering tie rod depends on the first motor;
42) when the power-assisted torque required by the system is larger than the maximum power-assisted torque which can be provided by the first motor and is smaller than or equal to the sum of the maximum power-assisted torques which can be provided by the first motor and the first set of windings of the double-winding motor during working, the one-way clutch is closed, the first motor works as a corner motor under full load, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor is started to serve as a torque motor, and the displacement of a steering tie rod depends on the first set of windings of the first motor and the first;
43) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the first motor and the first set of windings of the double-winding motor when the system works and is smaller than or equal to the sum of the maximum power-assisted torques which can be provided by the first motor and the double-winding motor when the two sets of windings of the first motor and the double-winding motor simultaneously work, the one-way clutch is closed, the first motor works as a corner motor under full load and simultaneously starts the two sets of windings of the double-winding motor, a relay contact a is connected with a contact c, a contact b is connected with a contact d, the contact a is connected with a contact e, the contact b is connected with a contact f, the two sets of windings of the double-;
44) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the simultaneous working of the two windings of the first motor and the double-winding motor, the first motor and the double-winding motor simultaneously work in full load, the electromagnetic clutch unit simultaneously controls the closing of the electromagnetic clutch, the wire-controlled steering and the mechanical steering are simultaneously carried out, the one-way clutch is closed, the first motor is used as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the two windings of the double-winding motor simultaneously work as a torque motor, and the displacement of a steering tie rod depends on the torque input by the two;
45) when the first motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on two windings of the double-winding motor, a failure alarm unit is triggered, and the driver is reminded of failure information;
46) when two windings of the double-winding motor are failed, all contacts of the relay are disconnected, the one-way clutch is closed, the first motor serves as a corner motor, the displacement of the steering tie rod depends on the first motor, and the failure alarm unit is triggered;
47) when the first motor fails and a first set of windings of the double-winding motor fails, the one-way clutch is disconnected, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on the second set of windings of the double-winding motor, and a fault alarm unit is triggered to remind a driver of fault information;
48) when the first motor fails and the second set of windings of the double-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor is used as a corner motor, the displacement of the steering tie rod depends on the first set of windings of the double-winding motor, and a failure alarm unit is triggered to remind a driver of failure information;
49) when a first set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the second set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
50) when the second set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the first set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
51) when two sets of windings of the first motor and the double-winding motor are in fault, the one-way clutch is disconnected, all contacts of the relay are disconnected, the electromagnetic clutch is closed, the displacement of the steering tie rod depends on the torque input by the steering wheel, the fault alarm unit is triggered, and a driver is prompted to perform emergency braking operation.
Further, the step 4) specifically further includes: the feedback torque output by the road feel motor acts on the first steering column through the first worm and gear and then is transmitted to the steering wheel, so that driving road feel is provided for a driver; the boosting torque output by the first motor acts on the ball screw through the one-way clutch, the second worm gear and the second steering column and is converted into the displacement of the steering tie rod; the boosting torque output by the double-winding motor acts on the ball screw through the speed reducing mechanism and is converted into the displacement of the steering tie rod; the first motor and the double-winding motor superpose the displacement acted on the steering tie rod, output the displacement to the steering trapezoid and the steering wheel and convert the displacement into the front wheel rotating angle at the next moment.
Further, the step 4) specifically further includes: the fuzzy PID control is adopted, the parameters of the controller can be adjusted in real time, and the method comprises the following specific steps:
52) in the running process of the vehicle, the steering decision unit calculates the expected steering tie rod displacement x at the next momentcThe displacement sensor acquires the actual displacement x of the tie rod at the current moment;
53) deviation e and deviation change rate e of tie rod displacement expected at the next moment and tie rod actual displacement at the current momentcAs input to the controller;
54) deviation e and deviation rate of change ecOutputting the regulating quantity delta K according to a fuzzy rule through fuzzy reasoning of a fuzzy controllerp、ΔKi、ΔKdImplementing the parameter K to the PID controllerp、Ki、KdAdjusting to ensure the control effect on the displacement of the steering tie rod; the PID control parameters after real-time adjustment along with the vehicle dynamic parameters are as follows:
Figure BDA0002323747550000051
wherein, Kp0、Ki0、Kd0Initial parameters of the PID controller;
55) and circulating the control until the expected displacement of the tie rod is achieved, and completing the steering action.
Further, the fuzzy PID control specifically includes:
56) input deviation e and deviation change rate ecAre respectively [ -10,10]、[-1,1]Output quantity Δ Kp、ΔKi、ΔKdAre respectively [ -3,3 [ -3 [)]、[-0.6,0.6]、[-3,3](ii) a The fuzzy set of input and output quantities is { NB, NS, NM, ZO, PS, PM, PB } — large negative, medium negative, small negative, zero,small, middle, large }; fuzzy theory threshold values of the input and output quantities are { -3, -2, -1,0,1,2 and 3}, and the input and output quantities are distributed according to a triangular membership function curve;
57) the fuzzy control rule is as follows: when the deviation e is large, a large delta K is takenpAnd a smaller Δ Ki、ΔKdA value; when the deviation e is medium, take smaller Δ KpAnd moderate Δ Ki、ΔKdA value; when the deviation e is small, take the larger Δ Kp、ΔKiValue of, take moderate Δ KdA value; when deviation ecWhen larger, take smaller Δ KdA value; when deviation ecWhen smaller, take moderate delta KdA value;
58) establishing Δ K according to the fuzzy control ruleP、ΔKi、ΔKdAnd obtaining the control parameters adjusted by the fuzzy PID controller.
The invention has the beneficial effects that:
the double-winding motor integrates the functions of the double-winding motor, and the working mode that two windings of the double-winding motor work simultaneously can output larger torque compared with a single-winding motor and has higher response speed and lower energy consumption compared with a double-winding electric hydraulic power-assisted steering system;
the invention has the dual hardware redundancy functions of the motor and the motor winding; when a single motor fails, the other motor drives the motor to complete the steering action; a single winding of the double-winding motor breaks down, and the other winding is used for driving to complete steering action, so that the reliability of the double-motor steer-by-wire system is further improved, and the safety of a vehicle is enhanced;
the fuzzy PID control method is adopted, parameters of the controller can be adjusted in real time according to the current state of the vehicle, the anti-jamming capability and the robustness are high, and the steering execution accuracy and the vehicle driving safety are guaranteed.
Drawings
FIG. 1 is a block diagram of the principle structure of a dual-motor steer-by-wire system based on a dual-winding motor according to the present invention;
FIG. 2 is a flow chart of the switching of the operation modes of the motor driving unit according to the present invention;
FIG. 3 is a schematic diagram of the switching principle of the operating modes of the double-winding motor of the present invention;
FIG. 4 is a flow chart of a control method of the present invention;
FIG. 5 is a schematic diagram of the fuzzy PID control principle of the present invention;
in the figure, 1-a steering wheel, 2-a rotation angle sensor, 3-a first steering column, 4-a first torque sensor, 5-a first worm gear, 6-an electromagnetic clutch, 7-a first motor, 8-a third torque sensor, 9-a one-way clutch, 10-a second worm gear, 11-a second steering column, 12-a steering wheel, 13-a steering trapezoid, 14-a steering tie rod, 15-a nut, 16-a ball screw, 17-a displacement sensor, 18-a speed reducing mechanism, 19-a double-winding motor output shaft, 20-a second winding, 21-a first winding, 22-a second current sensor, 23-a relay control unit, 24-a double-winding motor module, 25-a first current sensor, 26-other vehicle status unit, 27-main controller, 28-road sensing motor, 29-second torque sensor;
the control method comprises the steps that A-a corner signal, B-a first torque signal, C-a second torque signal, D-a third torque signal, E-a first current signal, F-a second current signal, G-a tie rod displacement signal, H-a first motor control signal, I-a double-winding motor control signal, J-a circuit induction motor control signal, K-an electromagnetic clutch control signal, M-a vehicle speed signal and N-a transverse swing angular velocity signal are obtained;
t-system required assistance torque, T1Maximum assistance torque, T, provided by the first electric machined1Maximum assistance torque, T, provided by the first winding of the double-winding machined1+Td2The maximum assistance torque which can be provided by two windings of the double-winding motor.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 to 3, a dual motor steer-by-wire system based on a dual winding motor according to the present invention includes: the steering wheel 1, a steering column assembly, a road feel assembly, a double-motor steering actuating device, a steering control unit and an electromagnetic clutch 6; wherein
Steering wheel 1 connects the steering column assembly, and the steering column assembly includes: a first steering column 3, a first torque sensor 4, a rotation angle sensor 2; the acting force input by the steering wheel 1 acts on the road sensing assembly through the first steering column 3, and the first steering column 3 is fixedly provided with the first torque sensor 4 and the corner sensor 2 respectively;
the road feel assembly includes: a road sensing motor 28, a second torque sensor 29, a first worm gear 5; the output end of the road sensing motor 28 is connected with the worm wheel end of the first worm gear 5 through a second torque sensor 29, and the worm end of the first worm gear 5 is fixed on the first steering column 3; the feedback torque output by the road sensing motor 28 is transmitted to the steering wheel 1 through the first worm and gear 5 and the first steering column 3 in sequence;
the dual-motor steering actuator includes: the device comprises a first motor module, a double-winding motor module 24, a steering tie rod 14, a steering trapezoid 13 and a steering wheel 12;
the first electric machine module includes: the system comprises a first motor 7, a third torque sensor 8, a one-way clutch 9, a second worm gear 10, a second steering column 11, a ball screw 16 and a displacement sensor 17; the displacement sensor 17 is arranged on the ball screw 16, and the output end of the first motor 7 is connected to the nut 15 of the ball screw 16 through the third torque sensor 8, the one-way clutch 9, the second worm gear 10 and the second steering column 11 in sequence; the screw end of the ball screw 16 breaks the tie rod 14, and two ends of the ball screw 16 are axially and fixedly connected with two broken ports of the tie rod 14; the rotary motion output by the first motor 7 is converted into the rotary motion of a second steering column 11 through the one-way clutch 9 and the second worm gear 10, and the rotary motion of the second steering column 11 is converted into the displacement motion of a tie rod 14 through a ball screw 16;
the double-winding motor module 24 includes: a relay control unit 23, a double-winding motor, a first current sensor 25, a second current sensor 22 and a speed reducing mechanism 18;
the relay control unit 23 includes: a relay controller and a relay; the input end of the relay controller is connected with the steering control unit, and the output end of the relay controller is connected with the relay;
the double winding motor includes: the motor comprises a stator core, a rotor assembly, a base, a first set of windings 21, a second set of windings 20 and a double-winding motor output shaft 19;
the first set of windings comprises an A-phase winding, a B-phase winding and a C-phase winding; the second set of windings comprises a phase winding a, a phase winding b and a phase winding c; the input end of the first set of windings is divided into three branches which are respectively connected with the input end of the phase A winding, the input end of the phase B winding and the input end of the phase C winding; the input end of the second set of windings is divided into three branches which are respectively connected with the input end of the phase a winding, the input end of the phase b winding and the input end of the phase c winding;
stator slots are distributed on the stator core, the same phase winding of the first set of winding and the second set of winding is embedded in different stator slots in a staggered electric angle of 30 degrees, and the stator core is fixed on the engine base; the input end of the first set of windings is connected with the first current sensor, and the input end of the second set of windings is connected with the second current sensor;
the rotor assembly includes: a rotor core, a rotor winding; the rotor winding is wound on a rotor iron core, and the rotor iron core is fixed on an output shaft of the double-winding motor; the first set of windings and the second set of windings work simultaneously to generate a synthetic magnetic field, induced current is generated in the rotor windings, the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs torque through the output shaft of the double-winding motor;
the speed reducing mechanism includes: pinion, belt, bull gear; the small gear is axially fixed on the output shaft of the double-winding motor, the belt is connected with the small gear and the large gear, the large gear is internally provided with threads and is axially sleeved on the ball screw 16;
the steering control unit includes: a main controller 27 and other vehicle status units 26; the input end of the main controller 27 is electrically connected with the sensors, and acquires a first torque signal, a second torque signal, a third torque signal, a first current signal, a second current signal, a corner signal and a steering tie rod displacement signal; the other state units of the vehicle provide a vehicle speed signal and a yaw rate signal of the current vehicle state for the main controller; the output end of the main controller is connected with the road sensing assembly, the electromagnetic clutch, the first motor and the relay control unit;
the electromagnetic clutch 6 includes: the armature, the driving shaft, the driven shaft, the electromagnet and the friction plate group are arranged in the shell; the driving shaft is axially fixed on the first steering column 3, the driven shaft is axially fixed on the second steering column 11, the armature is sleeved on the driving shaft and can axially move, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is positioned between the armature and the friction plate group; the electromagnetic clutch control signal output by the main controller controls the on-off of the coil, and further controls the combination and separation of the electromagnetic clutch.
Wherein the double winding motor output shaft 19 is arranged in parallel with respect to the tie rod 14, and is connected to the ball screw 16 via the reduction mechanism 18; the rotary motion of the output shaft 19 of the double-winding motor is converted into the rotary motion of a pinion gear, the rotary motion of the pinion gear is converted into the rotary motion of a bull gear through a belt, and the rotary motion of the bull gear is converted into the displacement motion of a tie rod 14 through a ball screw 16;
the nut 15 of the ball screw drives the ball screw to move, and the large gear rotates to drive the screw 16 to move, so that the ball screw and the large gear are superposed on the tie rod 14, and the steering trapezoid 13 and the steering wheel 12 are driven to complete steering.
The double-winding motor is a brushless direct current motor.
Wherein the first current sensor and the second current sensor are Hall current sensors.
The main controller comprises a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, a motor driving unit and an electromagnetic clutch driving unit; the signal processing unit is electrically connected with the sensors to acquire signals acquired by the sensors in real time, and is electrically connected with other state units of the vehicle to acquire other state signals of the vehicle; the steering decision unit receives input signals of the signal processing unit, the steering database and the diagnosis unit through a vehicle-mounted communication line respectively, and outputs instructions to the motor driving unit and the electromagnetic clutch driving unit through the vehicle-mounted communication line respectively after calculation, the motor driving unit outputs control signals of the induction motor, the first motor and the double-winding motor, and the electromagnetic clutch driving unit outputs an electromagnetic clutch control signal to complete a steering action control process; the diagnosis unit is used for detecting whether the system works normally in the running process of the vehicle; the fault alarm unit is used for reminding a driver of fault information; the desired vehicle front wheel angle and the desired driving road feeling in each vehicle state stored in the steering database.
Wherein, the electro-magnet includes: a coil and a yoke; when the steer-by-wire is normal, the coil is not electrified, the magnet yoke is separated from the armature, the friction plate group does not transmit torque, and the electromagnetic clutch is separated; when the steer-by-wire fails, the coil is electrified, the magnet yoke attracts the armature to tightly press the friction plate set, the friction plate set transmits torque through friction force, and the electromagnetic clutch is combined; the torque of the steering wheel is transmitted to the tie rod, the steering trapezoid and the steering wheel through the first steering column, the electromagnetic clutch, the second steering column and the ball screw, and the steering action is finished.
Referring to fig. 4, the method for controlling a dual-motor steer-by-wire system based on a dual-winding motor according to the present invention includes the following steps:
1) inputting a steering wheel angle according to the driving condition of the vehicle;
2) the signal processing unit receives a corner signal A, a first torque signal B, a second torque signal C, a third torque signal D, a first current signal E, a second current signal F, a tie rod displacement signal G, a vehicle speed signal M and a yaw rate signal N in real time, obtains a current vehicle state signal through calculation, and transmits the current vehicle state signal to the steering decision unit;
3) the steering decision unit carries out steering decision calculation on the current vehicle state signal according to the expected front wheel turning angle and the expected driving road feeling of the vehicle in each vehicle state stored in the steering database to obtain the expected front wheel turning angle at the next moment and calculate the steering tie rod displacement corresponding to the expected front wheel turning angle at the next moment; meanwhile, the expected driving road feeling at the next moment is obtained, and the steering column torque corresponding to the expected driving road feeling at the next moment is calculated; the steering decision unit outputs instructions to the motor driving unit and the electromagnetic clutch control unit;
4) the diagnosis unit detects whether the system works normally or not in the running process of the vehicle, the motor driving unit selects different working modes according to an output instruction of the steering decision unit, and outputs a road sensing motor control signal J, a first motor control signal H and a double-winding motor control signal I containing working states of a first set of winding and a second set of winding respectively, and the relay controller judges the working states of the first set of winding and the second set of winding according to the double-winding motor control signal so as to control the connection mode of contacts in the relay; meanwhile, the electromagnetic clutch driving unit outputs an electromagnetic clutch control signal K according to an output instruction of the steering decision unit, and controls the combination and the separation of the electromagnetic clutch.
The step 4) of selecting the working mode of the motor driving unit specifically comprises the following steps:
41) when the power-assisted torque T required by the system is less than or equal to the maximum power-assisted torque T which can be provided by the first motor1Closing the one-way clutch, starting the first motor, wherein the first motor is used as a corner motor, and the displacement of the steering tie rod depends on the first motor;
42) when the power-assisted torque required by the system is larger than the maximum power-assisted torque provided by the first motor and is smaller than or equal to the maximum power-assisted torque T provided by the first set of windings of the first motor and the double-winding motord1When the one-way clutch is closed, the first motor works as a corner motor under full load, a relay contact a is connected with a contact c, a contact b is connected with a contact d, a first set of windings for starting the double-winding motor is used as a torque motor, and the displacement of a steering tie rod depends on the first motor and the first set of windings of the double-winding motor;
43) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the first set of windings of the first motor and the double-winding motor and is smaller than or equal to the sum of the maximum power-assisted torques which can be provided by the first set of windings of the first motor and the double-winding motor when the two sets of windings of the first motor and the double-winding motorMaximum assistance torque T of supplyd1+Td2When the one-way clutch is closed, the first motor is used as a corner motor to work under full load, two windings of the double-winding motor are started simultaneously, a relay contact a is connected with a contact c, a contact b is connected with a contact d, a contact a is connected with a contact e, a contact b is connected with a contact f, the two windings of the double-winding motor work simultaneously to serve as a torque motor, and the displacement of a steering tie rod depends on the two windings of the first motor and the double-winding motor;
44) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the simultaneous working of the two windings of the first motor and the double-winding motor, the first motor and the double-winding motor simultaneously work in full load, the electromagnetic clutch unit simultaneously controls the closing of the electromagnetic clutch, the wire-controlled steering and the mechanical steering are simultaneously carried out, the one-way clutch is closed, the first motor is used as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the two windings of the double-winding motor simultaneously work as a torque motor, and the displacement of a steering tie rod depends on the torque input by the two;
45) when the first motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on two windings of the double-winding motor, a failure alarm unit is triggered, and the driver is reminded of failure information;
46) when two windings of the double-winding motor are in fault, all contacts of the relay are disconnected, the one-way clutch is closed, the first motor is used as a corner motor, the displacement of the steering tie rod depends on the first motor, and the fault alarm unit is triggered to remind a driver of fault information;
47) when the first motor fails and a first set of windings of the double-winding motor fails, the one-way clutch is disconnected, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on the second set of windings of the double-winding motor, and a fault alarm unit is triggered to remind a driver of fault information;
48) when the first motor fails and the second set of windings of the double-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor is used as a corner motor, the displacement of the steering tie rod depends on the first set of windings of the double-winding motor, and a failure alarm unit is triggered to remind a driver of failure information;
49) when a first set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the second set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
50) when the second set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the first set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
51) when two sets of windings of the first motor and the double-winding motor are in fault, the one-way clutch is disconnected, all contacts of the relay are disconnected, the electromagnetic clutch is closed, the displacement of the steering tie rod depends on the torque input by the steering wheel, the fault alarm unit is triggered, and a driver is prompted to perform emergency braking operation.
The step 4) specifically further comprises: the feedback torque output by the road feel motor acts on the first steering column through the first worm and gear and then is transmitted to the steering wheel, so that driving road feel is provided for a driver; the boosting torque output by the first motor acts on the ball screw through the one-way clutch, the second worm gear and the second steering column and is converted into the displacement of the steering tie rod; the boosting torque output by the double-winding motor acts on the ball screw through the speed reducing mechanism and is converted into the displacement of the steering tie rod; the first motor and the double-winding motor superpose the displacement acted on the steering tie rod, output the displacement to the steering trapezoid and the steering wheel and convert the displacement into the front wheel rotating angle at the next moment.
Referring to fig. 5, the step 4) specifically further includes: the fuzzy PID control is adopted, the parameters of the controller can be adjusted in real time, and the method comprises the following specific steps:
52) in the running process of the vehicle, the steering decision unit calculates the expected steering tie rod displacement x at the next momentcThe displacement sensor acquires the actual displacement x of the tie rod at the current moment;
53) deviation e and deviation change rate e of tie rod displacement expected at the next moment and tie rod actual displacement at the current momentcAs input to the controller;
54) deviation e and deviation rate of change ecOutputting the regulating quantity delta K according to a fuzzy rule through fuzzy reasoning of a fuzzy controllerp、ΔKi、ΔKdImplementing the parameter K to the PID controllerp、Ki、KdThe PID control parameters are adjusted to have good control effect on various motion states of the automobile steering, and the control effect on the displacement of the steering tie rod is ensured; the PID control parameters after real-time adjustment along with the vehicle dynamic parameters are as follows:
Figure BDA0002323747550000111
wherein, Kp0、Ki0、Kd0Initial parameters of the PID controller;
55) and circulating the control until the expected displacement of the tie rod is achieved, and completing the steering action.
The fuzzy PID control specifically further includes:
56) input deviation e and deviation change rate ecAre respectively [ -10,10]、[-1,1]Output quantity Δ Kp、ΔKi、ΔKdAre respectively [ -3,3 [ -3 [)]、[-0.6,0.6]、[-3,3](ii) a The fuzzy set of input and output quantities is { NB, NS, NM, ZO, PS, PM, PB } - { big negative, middle negative, small negative, zero, small positive, middle positive, big positive }; the fuzzy domain values of the input output quantity are { -3, -2, -1,0,1,2,3}, and the input output quantity isThe output quantities are distributed according to a triangular membership function curve;
57) the fuzzy control rule is as follows: when the deviation e is large, a large delta K is takenpAnd a smaller Δ Ki、ΔKdA value; when the deviation e is medium, take smaller Δ KpAnd moderate Δ Ki、ΔKdA value; when the deviation e is small, take the larger Δ Kp、ΔKiValue of, take moderate Δ KdA value; when deviation ecWhen larger, take smaller Δ KdA value; when deviation ecWhen smaller, take moderate delta KdA value;
58) according to the fuzzy control rule, establishing the delta K shown in the tables 1-3P、ΔKi、ΔKdAnd obtaining the control parameters adjusted by the fuzzy PID controller. The following were used:
TABLE 1
Figure BDA0002323747550000121
TABLE 2
Figure BDA0002323747550000122
TABLE 3
Figure BDA0002323747550000123
Figure BDA0002323747550000131
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. A dual-motor steer-by-wire system based on a dual-winding motor, comprising: the steering wheel, the steering column assembly, the road feel assembly, the double-motor steering actuating device, the steering control unit and the electromagnetic clutch; wherein the content of the first and second substances,
the steering wheel is connected with a steering column assembly, and the steering column assembly comprises: the steering system comprises a first steering column, a first torque sensor and a corner sensor; the acting force input by the steering wheel acts on the road sensing assembly through a first steering column, and a first torque sensor and a corner sensor are fixedly mounted on the first steering column respectively;
the road feel assembly includes: the road sensing motor, the second torque sensor and the first worm and gear; the output end of the road sensing motor is connected with the worm wheel end of the first worm gear through a second torque sensor, and the worm end of the first worm gear is fixed on the first steering column; the feedback torque output by the road sensing motor is transmitted to the steering wheel through the first worm and gear and the first steering column in sequence;
the dual-motor steering actuator includes: the device comprises a first motor module, a double-winding motor module, a steering tie rod, a steering trapezoid and a steering wheel;
the first electric machine module includes: the system comprises a first motor, a third torque sensor, a one-way clutch, a second worm gear, a second steering column, a ball screw and a displacement sensor; the displacement sensor is arranged on the ball screw, and the output end of the first motor is connected to a nut of the ball screw through a third torque sensor, a one-way clutch, a second worm and gear and a second steering column in sequence; the two ends of the ball screw are axially and fixedly connected with the two broken ports of the tie rod; the rotary motion output by the first motor is converted into rotary motion of a second steering column through the one-way clutch and the second worm gear, and the rotary motion of the second steering column is converted into displacement motion of a tie rod through the ball screw;
the double winding motor module includes: the device comprises a relay control unit, a double-winding motor, a first current sensor, a second current sensor and a speed reducing mechanism;
the relay control unit includes: a relay controller and a relay; the input end of the relay controller is connected with the steering control unit, and the output end of the relay controller is connected with the relay;
the double winding motor includes: the motor comprises a stator core, a rotor assembly, a base, a first set of windings, a second set of windings and a double-winding motor output shaft;
the first set of windings comprises an A-phase winding, a B-phase winding and a C-phase winding; the second set of windings comprises a phase winding a, a phase winding b and a phase winding c; the input end of the first set of windings is divided into three branches which are respectively connected with the input end of the phase A winding, the input end of the phase B winding and the input end of the phase C winding; the input end of the second set of windings is divided into three branches which are respectively connected with the input end of the phase a winding, the input end of the phase b winding and the input end of the phase c winding;
stator slots are distributed on the stator core, the same phase winding of the first set of winding and the second set of winding is embedded in different stator slots in a staggered electric angle of 30 degrees, and the stator core is fixed on the engine base; the input end of the first set of windings is connected with the first current sensor, and the input end of the second set of windings is connected with the second current sensor;
the rotor assembly includes: a rotor core, a rotor winding; the rotor winding is wound on a rotor iron core, and the rotor iron core is fixed on an output shaft of the double-winding motor; the first set of windings and the second set of windings work simultaneously to generate a synthetic magnetic field, induced current is generated in the rotor windings, the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs torque through the output shaft of the double-winding motor;
the speed reducing mechanism includes: pinion, belt, bull gear; the small gear is axially fixed on the output shaft of the double-winding motor, the belt is connected with the small gear and the large gear, and the large gear is internally provided with threads and is axially sleeved on the ball screw;
the steering control unit includes: a main controller and other state units of the vehicle; the input end of the main controller is electrically connected with the sensors and acquires a first torque signal, a second torque signal, a third torque signal, a first current signal, a second current signal, a corner signal and a steering tie rod displacement signal; the other state units of the vehicle provide a vehicle speed signal and a yaw rate signal of the current vehicle state for the main controller; the output end of the main controller is connected with the road sensing assembly, the electromagnetic clutch, the first motor and the relay control unit;
the electromagnetic clutch includes: the armature, the driving shaft, the driven shaft, the electromagnet and the friction plate group are arranged in the shell; the driving shaft is axially fixed on the first steering column, the driven shaft is axially fixed on the second steering column, the armature is sleeved on the driving shaft and can axially move, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is positioned between the armature and the friction plate group; the electromagnetic clutch control signal output by the main controller controls the on-off of the coil, and further controls the combination and separation of the electromagnetic clutch.
2. The dual-motor steer-by-wire system based on the dual-winding motor according to claim 1, wherein said dual-winding motor output shaft is arranged in parallel with respect to a tie rod, and is connected to a ball screw via a reduction mechanism; the rotary motion of the output shaft of the double-winding motor is converted into the rotary motion of the pinion, the rotary motion of the pinion is converted into the rotary motion of the bull gear through the belt, and the rotary motion of the bull gear is converted into the displacement motion of the steering tie rod through the ball screw.
3. The dual-motor steer-by-wire system based on the dual-winding motor of claim 1, wherein the nut of the ball screw drives the ball screw to displace and the gearwheel rotates to drive the screw to displace, so as to overlap on the tie rod, thereby driving the steering trapezoid and the steering wheel to perform steering action.
4. The dual-motor steer-by-wire system based on a dual-winding motor of claim 1, wherein said dual-winding motor is a brushless dc motor.
5. The dual-motor steer-by-wire system based on a dual-winding motor of claim 1, wherein said first and second current sensors are hall current sensors.
6. The dual-motor steer-by-wire system based on a dual-winding motor according to claim 1, wherein said main controller comprises: the system comprises a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, a motor driving unit and an electromagnetic clutch driving unit; the signal processing unit is electrically connected with the sensors to acquire signals acquired by the sensors in real time, and is electrically connected with other state units of the vehicle to acquire other state signals of the vehicle; the steering decision unit receives input signals of the signal processing unit, the steering database and the diagnosis unit through a vehicle-mounted communication line respectively, outputs instructions to the motor driving unit and the electromagnetic clutch driving unit through the vehicle-mounted communication line respectively after calculation, the motor driving unit outputs control signals of the induction motor, the first motor and the double-winding motor, and the electromagnetic clutch driving unit outputs electromagnetic clutch control signals to complete a steering action control process.
7. The dual-motor steer-by-wire system based on a bifilar motor of claim 1, wherein said electromagnet comprises a coil and a yoke; when the steer-by-wire is normal, the coil is not electrified, the magnet yoke is separated from the armature, the friction plate group does not transmit torque, and the electromagnetic clutch is separated; when the steer-by-wire fails, the coil is electrified, the magnet yoke attracts the armature to tightly press the friction plate set, the friction plate set transmits torque through friction force, and the electromagnetic clutch is combined; the torque of the steering wheel is transmitted to the tie rod, the steering trapezoid and the steering wheel through the first steering column, the electromagnetic clutch, the second steering column and the ball screw, and the steering action is finished.
8. A control method of a dual-motor steer-by-wire system based on a dual-winding motor is based on any one of the systems in the claims 1 to 7, and is characterized by comprising the following steps:
1) inputting a steering wheel angle according to the driving condition of the vehicle;
2) the signal processing unit receives a corner signal, a first torque signal, a second torque signal, a third torque signal, a first current signal, a second current signal, a tie rod displacement signal, a vehicle speed signal and a yaw rate signal in real time, obtains a current vehicle state signal through calculation, and transmits the current vehicle state signal to the steering decision unit;
3) the steering decision unit carries out steering decision calculation on the current vehicle state signal according to the expected front wheel turning angle and the expected driving road feeling of the vehicle in each vehicle state stored in the steering database to obtain the expected front wheel turning angle at the next moment and calculate the steering tie rod displacement corresponding to the expected front wheel turning angle at the next moment; meanwhile, the expected driving road feeling at the next moment is obtained, and the steering column torque corresponding to the expected driving road feeling at the next moment is calculated; the steering decision unit outputs instructions to the motor driving unit and the electromagnetic clutch control unit;
4) the diagnosis unit detects whether the system works normally or not in the running process of the vehicle, the motor driving unit selects different working modes according to an output instruction of the steering decision unit, and outputs a road sensing motor control signal, a first motor control signal and a double-winding motor control signal containing working states of a first set of winding and a second set of winding respectively, and the relay controller judges the working states of the first set of winding and the second set of winding according to the double-winding motor control signal so as to control the connection mode of contacts in the relay; meanwhile, the electromagnetic clutch driving unit outputs an electromagnetic clutch control signal according to an output instruction of the steering decision unit to control the combination and the separation of the electromagnetic clutch.
9. The control method of the dual-motor steer-by-wire system based on the dual-winding motor according to claim 8, wherein the step 4) of selecting the operation mode of the motor driving unit specifically comprises the steps of:
41) when the boosting torque required by the system is less than or equal to the maximum boosting torque which can be provided by the first motor, the one-way clutch is closed, the first motor is started, the first motor serves as a corner motor, and the displacement of a steering tie rod depends on the first motor;
42) when the power-assisted torque required by the system is larger than the maximum power-assisted torque which can be provided by the first motor and is smaller than or equal to the sum of the maximum power-assisted torques which can be provided by the first motor and the first set of windings of the double-winding motor during working, the one-way clutch is closed, the first motor works as a corner motor under full load, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor is started to serve as a torque motor, and the displacement of a steering tie rod depends on the first set of windings of the first motor and the first;
43) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the first motor and the first set of windings of the double-winding motor when the system works and is smaller than or equal to the sum of the maximum power-assisted torques which can be provided by the first motor and the double-winding motor when the two sets of windings of the first motor and the double-winding motor simultaneously work, the one-way clutch is closed, the first motor works as a corner motor under full load and simultaneously starts the two sets of windings of the double-winding motor, a relay contact a is connected with a contact c, a contact b is connected with a contact d, the contact a is connected with a contact e, the contact b is connected with a contact f, the two sets of windings of the double-;
44) when the power-assisted torque required by the system is larger than the sum of the maximum power-assisted torques which can be provided by the simultaneous working of the two windings of the first motor and the double-winding motor, the first motor and the double-winding motor simultaneously work in full load, the electromagnetic clutch unit simultaneously controls the closing of the electromagnetic clutch, the wire-controlled steering and the mechanical steering are simultaneously carried out, the one-way clutch is closed, the first motor is used as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the two windings of the double-winding motor simultaneously work as a torque motor, and the displacement of a steering tie rod depends on the torque input by the two;
45) when the first motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the contact a is connected with the contact e, the contact b is connected with the contact f, the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on two windings of the double-winding motor, a failure alarm unit is triggered, and the driver is reminded of failure information;
46) when two windings of the double-winding motor are in fault, all contacts of the relay are disconnected, the one-way clutch is closed, the first motor is used as a corner motor, the displacement of the steering tie rod depends on the first motor, and the fault alarm unit is triggered to remind a driver of fault information;
47) when the first motor fails and a first set of windings of the double-winding motor fails, the one-way clutch is disconnected, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor is used as a corner motor, the displacement of a steering tie rod depends on the second set of windings of the double-winding motor, and a fault alarm unit is triggered to remind a driver of fault information;
48) when the first motor fails and the second set of windings of the double-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor is used as a corner motor, the displacement of the steering tie rod depends on the first set of windings of the double-winding motor, and a failure alarm unit is triggered to remind a driver of failure information;
49) when a first set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, a relay contact a is connected with a contact e, a contact b is connected with a contact f, a second set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the second set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
50) when the second set of windings of the double-winding motor fails, the one-way clutch is closed, the first motor serves as a corner motor, the relay contact a is connected with the contact c, the contact b is connected with the contact d, the first set of windings of the double-winding motor serves as a torque motor, the displacement of a steering tie rod depends on the first motor and the first set of windings of the double-winding motor, a failure alarm unit is triggered, and a driver is reminded of failure information;
51) when two sets of windings of the first motor and the double-winding motor are in fault, the one-way clutch is disconnected, all contacts of the relay are disconnected, the electromagnetic clutch is closed, the displacement of the steering tie rod depends on the torque input by the steering wheel, the fault alarm unit is triggered, and a driver is prompted to perform emergency braking operation.
10. The control method of the dual-motor steer-by-wire system based on the dual-winding motor according to claim 8, wherein the step 4) further comprises: the feedback torque output by the road feel motor acts on the first steering column through the first worm and gear and then is transmitted to the steering wheel, so that driving road feel is provided for a driver; the boosting torque output by the first motor acts on the ball screw through the one-way clutch, the second worm gear and the second steering column and is converted into the displacement of the steering tie rod; the boosting torque output by the double-winding motor acts on the ball screw through the speed reducing mechanism and is converted into the displacement of the steering tie rod; the first motor and the double-winding motor superpose the displacement acted on the steering tie rod, output the displacement to the steering trapezoid and the steering wheel and convert the displacement into the front wheel rotating angle at the next moment.
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