CN111267946A - Dual-motor redundant electric power steering control method integrated with active steering control - Google Patents
Dual-motor redundant electric power steering control method integrated with active steering control Download PDFInfo
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- CN111267946A CN111267946A CN202010073895.7A CN202010073895A CN111267946A CN 111267946 A CN111267946 A CN 111267946A CN 202010073895 A CN202010073895 A CN 202010073895A CN 111267946 A CN111267946 A CN 111267946A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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Abstract
The invention relates to a double-motor redundant electric power steering control method integrated with active steering control.A main control system and an auxiliary control system are provided, and the main control system acquires a current vehicle speed signal and determines a control scheme according to the current vehicle speed signal; the main control system acquires a control parameter signal acquired by the main sensor, the auxiliary control system acquires a proofreading parameter signal acquired by the auxiliary sensor, the control parameter signal is compared with the proofreading parameter signal, and if the control parameter signal is credible, the main control system sends a control instruction to perform electric power steering control or active steering control. The invention provides two sets of steering control systems, wherein the two sets of steering control systems can respectively control the steering of the motor vehicle, when one set of the steering control systems fails, the other set of the steering control systems can continue to work, so that the normal work of the vehicle steering system is ensured, and the use reliability of the motor vehicle steering system is improved.
Description
Technical Field
The invention relates to the technical field of automobile control systems, in particular to a dual-motor redundant electric power steering control method integrated with active steering control.
Background
In recent years, with the rapid development of internet technology, the application of large data and the development of integrated control, automatic driving has become the development direction of automobiles at present.
In a steering system of an automobile, wheels are driven to steer by a hydraulic power assisting system or an electric power assisting system through turning a steering wheel. In both the hydraulic power-assisted system and the motor power-assisted system, only one power device (a hydraulic pump or a motor) is arranged, and once the power device is damaged, the breakdown of a vehicle steering control system is directly caused, so that the use reliability of the vehicle is seriously reduced.
Disclosure of Invention
Problem (A)
In summary, how to improve the reliability of the steering system of the motor vehicle becomes a problem to be solved by those skilled in the art.
(II) technical scheme
The invention provides a dual-motor redundant electric power steering control method integrated with active steering control.
In the present invention: setting a main control system and an auxiliary control system, setting a main control motor and a main sensor corresponding to the main control system, and setting an auxiliary control motor and an auxiliary sensor corresponding to the auxiliary control system; the main control system acquires a current vehicle speed signal and determines a control scheme according to the current vehicle speed signal; the main control system acquires a control parameter signal acquired by the main sensor, the auxiliary control system acquires a correction parameter signal acquired by the auxiliary sensor, the control parameter signal is compared with the correction parameter signal, and if the control parameter signal is credible, the main control system sends a control instruction to perform electric power steering control or active steering control.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, the control parameter signal is compared with the calibration parameter signal, if the control parameter signal is not authentic, the calibration parameter signal is sent to the main control system, and the main control system and the auxiliary control system simultaneously compare the control parameter signal with the calibration parameter signal; if the control parameter signal is credible, the main control system continues to send out a control instruction; if the control parameter signal is still not authentic, the detected signal is sent by the secondary control system to the primary control system, which sends the control instruction.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, whether the main control system fails or not is monitored in real time, and if the main control system fails, the auxiliary control system issues a control command.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, whether the main control motor fails or not is monitored in real time, and if the main control motor fails, the auxiliary control system sends a control instruction.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, a current feedback is provided between the main control motor and the main control system, and the main control system performs real-time adjustment of the control command according to the current feedback.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, if a current signal fed back by a current is greater than a control threshold prestored in the main control system, the auxiliary control system issues a control command.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, the main control system is in communication connection with the vehicle-mounted control module through CAN communication, and the main control system is in communication connection with the auxiliary control system through CAN communication to realize information sharing and form a dual-motor control system.
Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, after the vehicle enters the automatic control mode: the double-motor control system acquires the vehicle speed and the target corner angle, and performs logical operation according to the acquired vehicle speed and the target corner angle to obtain a feed-forward current signal; the dual-motor control system acquires the current corner angle of the steering wheel through the main sensor and/or the auxiliary sensor, performs segmented PID control according to the difference between the current corner angle and the target corner angle, and outputs a feedback current signal; and the sum value of the feedforward current signal and the feedback current signal is the final control current.
(III) advantageous effects
The invention provides a dual-motor redundant electric power steering control method integrated with active steering control, wherein the method is provided with two steering control systems of a main control system and an auxiliary control system, the main control system is provided with a main control motor and a main sensor corresponding to the main control system, and the auxiliary control system is provided with an auxiliary control motor and an auxiliary sensor corresponding to the auxiliary control system; acquiring a current vehicle speed signal by a main control system and determining a control scheme according to the current vehicle speed signal; the main control system acquires a control parameter signal acquired by the main sensor, the auxiliary control system acquires a proofreading parameter signal acquired by the auxiliary sensor, the control parameter signal is compared with the proofreading parameter signal, and if the control parameter signal is credible, the main control system sends a control instruction to perform electric power steering control or active steering control.
Through the structural design, in the dual-motor redundant electric power steering control method integrated with the active steering control, two sets of steering control systems are provided, the steering of the motor vehicle can be controlled in the two sets of steering control systems respectively, when one set of the steering control systems fails, the other set of the steering control systems can continue to work, the normal work of the vehicle steering system is ensured, and the reliability of the use of the motor vehicle steering system is improved.
Drawings
FIG. 1 is a schematic structural view of an improved steering system for a motor vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control frame of an electric power steering system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a mode transition control framework according to an embodiment of the present invention;
FIG. 4 is a block diagram of a dual-motor redundancy control strategy framework according to an embodiment of the present invention;
in fig. 1, the correspondence between the component names and the reference numbers is:
a steering wheel 1, a steering column 2, an auxiliary sensor 3, an auxiliary worm gear reducer 4,
The device comprises an auxiliary motor 5, an intermediate shaft 6, a main sensor 7, a main control motor 8, a main control system 9, a main worm gear reducer 10, an auxiliary control system 11 and a rack-and-pinion steering gear 12.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of an improved steering system of a motor vehicle according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a control frame of an electric power steering system according to an embodiment of the present invention; FIG. 3 is a block diagram of a mode transition control framework according to an embodiment of the present invention; fig. 4 is a schematic structural diagram of a dual-motor redundancy control strategy framework in an embodiment of the present invention.
The invention provides a double-motor redundant electric power steering control method integrated with active steering control, in the method, the invention carries out structural improvement on a motor vehicle steering system, namely, a set of auxiliary control system and an auxiliary control motor are added to match with an original main control system and a main control motor, thereby realizing a double-control and double-motor power steering structure.
In this embodiment, the present invention is provided with two sets of control systems, which are respectively: the main control system and the auxiliary control system are provided with a main control motor and a main sensor corresponding to the main control system, and an auxiliary control motor and an auxiliary sensor corresponding to the auxiliary control system.
After the improvement of the invention, the steering system comprises the following components: the device comprises a steering wheel 1, a steering column 2, an auxiliary sensor 3 (namely a torque angle sensor), two sets of worm gear reducers, namely a main worm gear reducer 10, an auxiliary worm gear reducer 4, an auxiliary motor 5, an intermediate shaft 6, a main sensor 7 (namely a torque angle sensor), a main control motor 8, a main control system 9, an auxiliary control system 11 and a rack-and-pinion steering gear 12.
In a normal use state, the motor close to the lower side is the main control motor 8, that is, the motor close to the rack-and-pinion steering gear 12 is the main control motor. The motor above the steering column is an auxiliary motor 5.
The main control system acquires a current vehicle speed signal and determines a control scheme according to the current vehicle speed signal, wherein the control scheme is a scheme formulated in a laboratory and can control the steering assisting force of a steering wheel according to the vehicle speed.
The main control system acquires a control parameter signal acquired by the main sensor, the auxiliary control system acquires a proofreading parameter signal acquired by the auxiliary sensor, the control parameter signal is compared with the proofreading parameter signal, and if the control parameter signal is credible, the main control system sends a control instruction to perform electric power steering control or active steering control.
The invention relates to a dual-motor redundant electric power steering system, which enhances a redundant safety function and steering stability on the basis of realizing an EPS function and adds an active steering strategy of steering angle control in automatic driving. The auxiliary steering control unit performs auxiliary driving control, the double controllers are matched for adjustment, a current instruction is sent to control the motor to drive, and the motor performs auxiliary power control and steering control on a steering system to achieve power assistance. The active steering and the auxiliary steering are integrated, a driver performs mode conversion and can realize state interchange in driving, the active control unit realizes an active steering function in an automatic driving mode, an upper-layer strategy sends a corner position signal, a controller performs logical operation to obtain a current instruction value, and a driving motor executes steering position control to realize active steering in the automatic mode.
Further, the control parameter signal is compared with a calibration parameter signal, if the control parameter signal is not credible, the calibration parameter signal is sent to the main control system, and the main control system and the auxiliary control system simultaneously compare the control parameter signal with the calibration parameter signal; if the control parameter signal is credible, the main control system continues to send out a control instruction; if the control parameter signal is still not authentic, a control instruction is issued by the auxiliary control system.
The invention also has the following three judgment modes:
1. monitoring whether the main control system fails in real time, and if the main control system fails, sending a control instruction by the auxiliary control system;
2. monitoring whether the main control motor fails in real time, and if the main control motor fails, sending a control instruction by an auxiliary control system;
3. and current feedback is arranged between the main control motor and the main control system, and the main control system adjusts the control instruction in real time according to the current feedback.
In a third mode, if the current signal fed back by the current is greater than the control threshold value prestored in the main control system, the auxiliary control system sends out a control instruction.
Specifically, the main control system is in communication connection with the vehicle-mounted control module through CAN communication, and the main control system is in communication connection with the auxiliary control system through CAN communication to realize information sharing and form a dual-motor control system.
The invention can also realize two modes of manual control from the automatic driving mode to the driver. After the vehicle enters the automatic control mode: obtaining a vehicle speed and a target corner angle by a double-motor control system, and carrying out logical operation according to the obtained vehicle speed and the target corner angle to obtain a feedforward current signal; the dual-motor control system acquires the current corner angle of the steering wheel through the main sensor and/or the auxiliary sensor, performs segmented PID control according to the difference between the current corner angle and the target corner angle, and outputs a feedback current signal; the sum of the feed-forward current signal and the feedback current signal is the final control current.
The working principle of the invention is as follows: the torque angle sensor used in the invention is used for measuring the steering torque and the rotation angle of the steering wheel, and the obtained signals can be sent to a corresponding control system. The main control system provides proper current for the main control single machine 8 through analysis of a preset control algorithm according to a vehicle speed signal transmitted by the vehicle speed sensor, so that the main control motor 8 is accurately driven to work, the current is adjusted in real time according to the feedback current, and the auxiliary motor 5 does not work at the moment. The output torque of the main control motor 8 provides steering assistance for the steering gear under the action of the speed reducing mechanism.
The whole control strategy has two paths of CAN communication, the main control system is connected with the whole vehicle, one path of CAN communication ensures the communication speed, and the other path of main and auxiliary control systems ensures the real-time synchronization of data through the CAN communication.
In the first situation, the main control system sends the received control parameter signal and the working state to the auxiliary control system through CAN communication, the auxiliary control system verifies the signal and the received correction parameter signal, and after comparison, if the control parameter signal is credible, no additional operation is performed; otherwise, a calibration parameter signal is sent to the main control subsystem by the auxiliary control system, whether the two subsystems work normally or not is detected, and the current of the motor can be adjusted in real time according to the two paths of electric signals, so that the steering power assisting is more accurate; when the vehicle-mounted main module detects that the main control system fails or the feedback current received by the main control system exceeds a set current value and detects that the main control motor fails in the steering process, the main control motor stops working, and at the moment, the auxiliary control system can completely replace the main control system to drive the auxiliary motor to assist in power.
The active steering function adopts corner closed-loop control, and designs a feedforward + feedback control mode. The speed signal from the vehicle speed sensor and the target turning angle command from the automatic driving are sent to the main controller 13, it sends signals, instructions and working states to the auxiliary controller 14 through CAN communication, the signals, the instructions and the working states are subjected to two-dimensional table lookup and interpolation through vehicle experiment measurement in a feed-forward channel to obtain the relation between a target and a vehicle speed and a steering angle for operation to obtain a current value Iq1, meanwhile, the difference between the actual rotation angle measured by a rotation angle sensor in a feedback channel and a target rotation angle instruction is subjected to segmented PID control, the motor is controlled to drive and steer in a circulating mode until the deviation between the actual rotation angle and the target rotation angle is smaller than a preset value, the integral is cleared, a control current Iq2 is output, the sum of the two is the final motor control current Iq, through the process, therefore, the steering motor is controlled and driven to quickly and accurately execute the steering angle instruction given by the controller, and the steering function of the vehicle is realized. Through the redundant design, the sensitivity, the accuracy and the operation stability of the steering power are improved, the active steering is increased, the safety of the electric power steering system is further improved and ensured, and the double-layer guarantee is realized.
Based on the double-motor redundant electric power steering control method integrated with the active steering control, the invention optimizes the traditional motor vehicle steering system as follows:
the motor vehicle steering system comprises a steering wheel, a steering wheel steering shaft connected with the steering wheel, a steering column arranged on the steering wheel steering shaft, the steering column being fixedly mounted relative to the frame, an auxiliary sensor arranged at the lower end of the steering column for sensing the action of the steering wheel steering shaft (steering wheel), mainly the rotation angle and the steering torque, an intermediate shaft, an auxiliary worm gear reducer and an auxiliary motor arranged below the auxiliary sensor, an auxiliary steering power assembly composed of the intermediate shaft, the auxiliary worm gear reducer and the auxiliary motor, a main sensor arranged on the reducer and the motor at the upper end of the steering gear, sensing the action of the intermediate shaft by the main sensor, a main control motor, a main control system and a main worm gear reducer arranged below the main sensor, and a main steering power assembly composed of the main control motor and the main worm gear reducer, the main steering power assembly drives the wheels to steer.
The invention improves the structure of the steering system of the motor vehicle, one steering wheel is correspondingly provided with two sets of steering power assemblies, and the combined operation of the two sets of steering power assemblies is realized through the main sensor, the main control system, the auxiliary sensor and the auxiliary control system, when one set of steering power assembly fails, the other set of steering power assembly is not influenced to work, therefore, the invention greatly improves the reliability of the use of the steering system and greatly improves the driving safety.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (8)
1. A dual-motor redundant electric power steering control method integrated with active steering control is characterized in that,
setting a main control system and an auxiliary control system, setting a main control motor and a main sensor corresponding to the main control system, and setting an auxiliary control motor and an auxiliary sensor corresponding to the auxiliary control system;
the main control system acquires a current vehicle speed signal and determines a control scheme according to the current vehicle speed signal;
the main control system acquires a control parameter signal acquired by the main sensor, the auxiliary control system acquires a correction parameter signal acquired by the auxiliary sensor, the control parameter signal is compared with the correction parameter signal, and if the control parameter signal is credible, the main control system sends a control instruction to perform electric power steering control or active steering control.
2. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 1,
comparing the control parameter signal with the proofreading parameter signal, if the control parameter signal is not credible, sending the proofreading parameter signal to the main control system, and simultaneously comparing the control parameter signal with the proofreading parameter signal by the main control system and the auxiliary control system;
if the control parameter signal is credible, the main control system continues to send out a control instruction;
if the control parameter signal is still not authentic, the detected signal is sent by the secondary control system to the primary control system, which sends the control instruction.
3. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 1,
and monitoring whether the main control system fails in real time, and if the main control system fails, sending a control instruction by the auxiliary control system.
4. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 1,
and monitoring whether the main control motor fails in real time, and if the main control motor fails, sending a control instruction by the auxiliary control system.
5. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 1,
and current feedback is arranged between the main control motor and the main control system, and the main control system adjusts the control instruction in real time according to the current feedback.
6. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 5,
and if the current signal fed back by the current is greater than the control threshold value prestored in the main control system, the auxiliary control system sends out a control instruction.
7. The dual-motor redundant electric power steering control method incorporated into active steering control according to any one of claims 1 to 6,
the main control system is in communication connection with the vehicle-mounted control module through CAN communication, and the main control system is in communication connection with the auxiliary control system through CAN communication to realize information sharing and form a dual-motor control system.
8. The dual-motor redundant electric power steering control method incorporated into active steering control according to claim 7,
after the vehicle enters the automatic control mode:
the double-motor control system acquires the vehicle speed and the target corner angle, and performs logical operation according to the acquired vehicle speed and the target corner angle to obtain a feed-forward current signal;
the dual-motor control system acquires the current corner angle of the steering wheel through the main sensor and/or the auxiliary sensor, performs segmented PID control according to the difference between the current corner angle and the target corner angle, and outputs a feedback current signal;
and the sum value of the feedforward current signal and the feedback current signal is the final control current.
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| CN202010073895.7A CN111267946A (en) | 2020-01-22 | 2020-01-22 | Dual-motor redundant electric power steering control method integrated with active steering control |
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| CN202010073895.7A CN111267946A (en) | 2020-01-22 | 2020-01-22 | Dual-motor redundant electric power steering control method integrated with active steering control |
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| CN113359741A (en) * | 2021-06-18 | 2021-09-07 | 青岛农业大学 | Automatic row guiding system of corn combine harvester |
| CN114684254A (en) * | 2022-04-29 | 2022-07-01 | 中汽创智科技有限公司 | Steering power-assisted adjusting method, device, equipment and storage medium |
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