CN111762262A - Vehicle rear wheel steering control system - Google Patents
Vehicle rear wheel steering control system Download PDFInfo
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- CN111762262A CN111762262A CN202010628627.7A CN202010628627A CN111762262A CN 111762262 A CN111762262 A CN 111762262A CN 202010628627 A CN202010628627 A CN 202010628627A CN 111762262 A CN111762262 A CN 111762262A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle rear wheel steering control system, which comprises a domain controller, an execution control module, a motor driving module, a permanent magnet synchronous motor, a rear wheel steering execution mechanism, a motor position detection module, a rack position detection module and a self-learning module, wherein the domain controller is used for controlling the execution control module to execute the motor driving module; the self-learning module collects motor position information and rack position information in real time, and establishes a corresponding relation between the motor position information and the rack position information, so that when the domain controller detects that the rack position detection module is normal, rear wheel rotation angle information is corrected directly according to the rack position information output by the rack position detection module, and when the rack position detection module is abnormal, current rack position information determined by the self-learning module is obtained, and rear wheel rotation angle signals are corrected according to the current rack position information. The embodiment of the invention can improve the reliability and safety of vehicle operation.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle rear wheel steering control system.
Background
With the advent of the intelligent era, the requirements of the vehicle on the controllability and the safety of the rear wheel steering system are higher and higher. The vehicle rear wheel steering control system is an important component of a vehicle chassis integrated control and intelligent vehicle. Vehicle rear wheel steering systems are classified into mechanical, hydraulic, and electric vehicle steering systems according to power plant differences.
The electric vehicle steering system adopts simple electronic circuits and devices to realize the function of rear wheel steering, has a simpler and more compact structure, and can carry out rear wheel steering action by receiving rear wheel steering angle signals given by a whole vehicle domain controller or a chassis domain controller after calculation and executing the controller.
In the current-stage rear wheel steering control system of the commercial vehicle, the rack position information detected by a rack position detection module is directly output to a domain controller, when the rack position detection module is abnormal, a rear wheel steering signal cannot be corrected according to the detected current rack position information, and the whole rear wheel steering system enters a fault state and cannot be used continuously.
Disclosure of Invention
In view of the above, the present invention provides a rear wheel steering control system for a vehicle to improve the reliability and safety of vehicle operation.
The embodiment of the invention provides a vehicle rear wheel steering control system, which comprises: the system comprises a domain controller, an execution control module, a motor driving module, a permanent magnet synchronous motor, a rear wheel steering execution mechanism, a motor position detection module, a rack position detection module and a self-learning module;
the domain controller is used for acquiring the state information of the vehicle and generating a rear wheel steering angle signal according to the state information;
the execution control module is used for outputting a driving signal according to the rear wheel steering angle signal;
the motor driving module is used for driving the permanent magnet synchronous motor to rotate according to the driving signal, so that the permanent magnet synchronous motor drives the rear wheel steering actuating mechanism to move, and the rear wheel steering of the vehicle is controlled;
the motor position detection module is used for detecting the position information of the permanent magnet synchronous motor and outputting the motor position information;
the rack position detection module is used for detecting the position of a rack in the rear wheel steering execution mechanism and outputting rack position information;
the self-learning module is used for acquiring the motor position information and the rack position information in real time and establishing the corresponding relation between the motor position information and the rack position information;
the domain controller is also used for receiving the rack position information output by the rack position detection module, and correcting the rear wheel steering angle signal according to the rack position information output by the rack position detection module when the rack position detection module is normal; and when the rack position detection module is abnormal, acquiring current rack position information determined by the self-learning module according to the corresponding relation and current motor position information output by the motor position detection module, and correcting the rear wheel steering angle signal according to the current rack position information.
Optionally, the vehicle rear wheel steering control system further includes: an isolation relay;
the self-learning module is electrically connected with the domain controller through the isolation relay;
the domain controller is also used for outputting an enabling signal to the execution control module according to the rack position information output by the rack position detection module;
the execution control module is also used for outputting a control signal according to the enabling signal so that the isolation relay is switched on or off according to the control signal to enable the self-learning module to be connected with the domain controller.
Optionally, the execution control module includes a first execution controller and a second execution controller;
the first execution controller is used for outputting a first driving signal according to the rear wheel steering angle signal;
the second execution controller is used for outputting a second driving signal according to the rear wheel steering angle signal;
the motor driving module is used for driving the permanent magnet synchronous motor to rotate according to the first driving signal and/or the second driving signal.
Optionally, the first execution controller is further configured to receive the second driving signal, compare the first driving signal with the second driving signal, and feed back fault information to the domain controller when a difference between the first driving signal and the second driving signal exceeds a preset range.
Optionally, the second execution controller is further configured to receive the first driving signal, compare the first driving signal with the second driving signal, and feed back fault information to the domain controller when a difference between the first driving signal and the second driving signal exceeds a preset range.
Optionally, the domain controller is further configured to stop providing the rear wheel steering signal to the first execution controller or the second execution controller according to the fault information.
Optionally, the vehicle rear wheel steering control system further includes: the power supply control module and the power supply conversion module;
the power supply control module controls the power supply conversion module to convert a vehicle-mounted power supply of the vehicle into power supplies of the first execution controller, the second execution controller, the motor position detection module and the rack position detection module.
Optionally, the power conversion module includes a first power conversion module, a second power conversion module, and a third power conversion module;
the first power supply conversion module is used for converting the vehicle-mounted power supply of the vehicle into the power supply of the first execution controller under the control of the power supply control module;
the second power supply conversion module is used for converting the vehicle-mounted power supply of the vehicle into the power supply of the second execution controller under the control of the power supply control module;
the third power supply conversion module is used for converting a vehicle-mounted power supply of the vehicle into a power supply of the motor position detection module and the rack position detection module under the control of the power supply control module.
Optionally, the vehicle rear wheel steering control system further includes: a first OR gate logic circuit;
the first execution controller and the second execution controller are electrically connected with the isolation relay through the first OR gate logic circuit;
the isolation relay is used for receiving the control signal output by the first execution controller and/or the control signal output by the second execution controller through the first OR gate logic circuit.
Optionally, the vehicle rear wheel steering control system further includes: a second OR gate logic circuit;
the first execution controller and the second execution controller are electrically connected with the motor driving module through the second OR gate logic circuit;
the motor driving module is used for receiving the driving signal output by the first execution controller and/or the driving signal output by the second execution controller through the second OR gate logic circuit.
According to the vehicle rear wheel steering control system provided by the embodiment of the invention, the self-learning module, the motor position detection module and the rack position detection module are arranged, the self-learning module is adopted to collect the motor position information output by the motor position detection module and the rack position information output by the rack position detection module in real time, the corresponding relation between the motor position information and the rack position information is established, and when the domain controller detects that the rack position detection module is normal, the rear wheel steering angle information is corrected directly according to the rack position information output by the rack position detection module; and when the rack position detection module is abnormal, the current rack position information determined by the self-learning module is obtained, and the rear wheel steering angle signal is corrected according to the current rack position information. The embodiment of the invention can accurately control the steering of the rear wheel of the vehicle, thereby improving the reliability and safety of the vehicle operation.
Drawings
Fig. 1 is a block diagram illustrating a rear wheel steering control system of a vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating a rear wheel steering control system for a vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating a rear wheel steering control system for a vehicle according to an embodiment of the present invention;
FIG. 4 is a block diagram illustrating a rear wheel steering control system for a vehicle according to an embodiment of the present invention;
fig. 5 is a block diagram illustrating a configuration of another vehicle rear wheel steering control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a vehicle rear wheel steering control system which can accurately control the rear wheel steering of a vehicle. Fig. 1 is a block diagram illustrating a rear wheel steering control system of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the rear wheel steering control system includes a domain controller 10, an execution control module 20, a motor driving module 30, a permanent magnet synchronous motor 40, a rear wheel steering actuator 50, a motor position detection module 60, a rack position detection module 70, and a self-learning module 80. Wherein, the domain controller 10 obtains the state information of the vehicle and generates a rear wheel steering signal according to the state information; the execution control module 20 outputs a driving signal according to the rear wheel steering angle signal; the motor driving module 30 drives the permanent magnet synchronous motor 40 to rotate according to the driving signal, so that the permanent magnet synchronous motor 40 drives the rear wheel steering actuating mechanism 50 to move, and the rear wheel steering of the vehicle is controlled; the motor position detection module 60 detects position information of the permanent magnet synchronous motor 40 and outputs motor position information. The rack position detecting module 70 detects the position of the rack in the rear wheel steering actuator 50 and outputs rack position information; the self-learning module 80 collects motor position information and rack position information in real time and establishes a corresponding relationship between the motor position information and the rack position information; the domain controller 10 may further receive rack position information output by the rack position detection module 70, and correct the rear wheel steering angle signal according to the rack position information output by the rack position detection module 70 when the rack position detection module 70 is normal; when the rack position detection module 70 is abnormal, the self-learning module 80 is acquired according to the corresponding relation between the motor position information and the rack position information, the current motor position information output by the motor position detection module 60 and the determined current rack position information, and corrects the rear wheel steering angle signal according to the current rack position information.
Specifically, the state information of the vehicle acquired by the domain controller 10 may include a speed, an acceleration, a steering wheel angle, and the like of the vehicle, that is, the domain controller 10 may generate corresponding rear wheel steering angle information according to the current speed and steering wheel angle of the vehicle, and transmit the rear wheel steering angle information to the execution control module 20, so that the execution control module 20 can output a corresponding driving signal to the motor driving module 30 according to the rear wheel steering angle signal; the motor driving module 30 may be, for example, a three-phase bridge driving circuit, and the motor driving module 30 can drive the permanent magnet synchronous motor 40 to rotate; the permanent magnet synchronous motor 40 drives the rear wheel steering actuator 50 to move, and controls the longitudinal and transverse acceleration of the rear wheel of the vehicle, so as to control the rear wheel steering of the vehicle. The rear wheel steering actuator 50 is provided with a gear and a rack.
Further, the vehicle rear wheel steering control system is provided with a motor position detection module 60 and a rack position detection module 70. The motor position information of the permanent magnet synchronous motor 40 can be obtained through the motor position detection module 60, and the rack position information of the rack in the rear wheel steering actuator 50 can be obtained through the rack position detection module 70; the position information of the motor may include a rotation amount and a rotation state of the motor, and the position information of the rack may include a displacement amount of the rack, a motion state of the rack, and the like. When the permanent magnet synchronous motor 40 rotates, the gear can be driven to rotate together, and the gear drives the rack to move so as to control the steering of the rear wheels of the vehicle, so that the displacement of the rack is related to the rotation of the permanent magnet synchronous motor 40. At this time, by acquiring the motor position information of the permanent magnet synchronous motor 40 output by the motor position detection module 60 and the rack position information of the rack in the rear wheel steering actuator 50 output by the rack position detection module 70 in real time by the self-learning module 80, a one-to-one correspondence relationship between the motor position information and the rack position information may be established, and the correspondence relationship may be stored in the self-learning module 80 in a form of a truth table.
Meanwhile, since the rack in the rear wheel steering actuator 50 drives the rear wheel of the vehicle to move so as to control the steering of the rear wheel of the vehicle, the displacement of the rack affects the actual rear wheel steering angle of the vehicle, and therefore, in the process of controlling the steering of the rear wheel, the actual rear wheel steering angle of the vehicle can be obtained through the rack position information output by the rack position detection module 70. Thus, the domain controller 10 may determine whether the current rack position detection module 70 is normal according to the received rack position information output by the rack position detection module 70, and when the rack position detection module 70 is normal, correct the rear wheel steering angle information according to the rack position information output by the rack position detection module 70, so that the execution control module 20 outputs a corresponding driving signal to the motor driving module 30 according to the corrected rear wheel steering angle information, so that when the electrode driving module drives the permanent magnet synchronous motor 40 to rotate, the permanent magnet synchronous motor 40 can drive the rear wheel steering execution mechanism 50 to move, so that the rear wheel steering execution mechanism 50 precisely controls the rear wheel steering; when the rack position detecting module 70 is abnormal, the self-learning module 80 can find out the corresponding rack position information from the truth table as the current rack position information according to the current motor position information output by the motor position detecting module 60, and output the current rack position information to the domain controller 10, so that the domain controller 10 can correct the rear wheel steering angle information according to the current rack position information, and the purpose of accurately controlling the rear wheel steering is achieved.
Therefore, no matter whether the rack position detection module breaks down or not, the domain controller can correct the rear wheel steering angle according to the corresponding rack position information so as to accurately control the rear wheel steering, and therefore the safety and the stability of the rear wheel steering control are improved.
Alternatively, fig. 2 is a block diagram of a vehicle rear wheel steering control system according to an embodiment of the present invention, and as shown in fig. 2, the vehicle rear wheel steering control system further includes an isolation relay 90, and the self-learning module 80 is electrically connected to the domain controller 10 through the isolation relay 90. At this time, the domain controller 10 can output an enable signal to the execution control module 20 according to the rack position information output by the rack position detection module 70. The execution control module 20 outputs a control signal according to the enable signal to make the isolation relay 90 turn on or off the connection of the self-learning module 80 and the domain controller 10 according to the corresponding control signal.
Specifically, since the domain controller 10 can judge whether the current rack position detecting module 70 is normal according to the rack position information output by the rack position detecting module 70, when the isolating relay 90 is provided between the self-learning module 80 and the domain controller 10, the isolating relay 90 may be used as a switch. When the rack position detection module 70 is normal, the execution control module 20 may control the isolation relay 90 to be in a disconnected state, so that the self-learning module 80 cannot output corresponding rack position information to the domain controller 10, and at this time, the domain controller 10 corrects the rear wheel steering angle signal according to the rack position information output by the rack position detection module 70; when the rack position detecting module 70 is abnormal, the domain controller 10 may output a corresponding enable signal to the execution control module 20, and the execution control module 20 may control the isolation relay 90 to be turned on when receiving the enable signal, so that the rack position information output by the self-learning module 80 is transmitted to the domain controller 10 through the turned-on isolation relay 90, and at this time, the domain controller 10 may correct the rear wheel steering angle signal according to the rack position information output by the self-learning module 80.
Therefore, the isolation relay is electrically connected between the domain controller and the self-learning module, so that the rack position detection signal output by the self-learning module and the rack position detection signal output by the rack position detection module can be prevented from crosstalk, and the safety and the reliability of the rear wheel steering control can be further improved.
Alternatively, fig. 3 is a block diagram of a structure of another vehicle rear wheel steering control system according to an embodiment of the present invention, and as shown in fig. 3, the execution control module 20 includes a first execution controller 210 and a second execution controller 220. Wherein, the first execution controller 210 outputs a first driving signal according to the rear wheel steering angle signal; and the second execution controller 220 outputs a second driving signal according to the rear wheel steering signal; at this time, the motor driving module 30 can drive the permanent magnet synchronous motor 40 to rotate according to the first driving signal and/or the second driving signal.
Specifically, when the first execution controller 210 is in a normal state and the second execution controller 220 is in an abnormal state, the motor driving module 30 may drive the permanent magnet synchronous motor 40 to rotate according to the first driving signal output by the first execution controller 210; when the second execution controller 220 is in the normal state and the first execution controller 210 is in the abnormal state, the motor driving module 30 can drive the permanent magnet synchronous motor 40 to rotate according to the second driving signal; in addition, when the first execution controller 210 and the second execution controller 220 are both in the normal state, the motor driving module 30 can drive the permanent magnet synchronous motor 40 to rotate together according to the first driving signal and the second driving signal.
Therefore, by arranging the two execution controllers in the execution control module, when one execution controller is abnormal, the other execution controller can still be adopted to output a corresponding driving signal, so that the motor driving module drives the permanent magnet synchronous motor to rotate, the purpose of controlling the steering of the rear wheels is achieved, and the safety and the stability of the operation of the system can be improved. The first execution controller and the second execution controller can be both single microprocessors.
Optionally, as shown in fig. 3, the first execution controller 210 is further configured to receive the second driving signal, compare the first driving signal with the second driving signal, and feed back the fault information to the domain controller 10 when the difference between the first driving signal and the second driving signal is beyond a preset range. Accordingly, the second execution controller 220 is further configured to receive the first driving signal, compare the first driving signal with the second driving signal, and feed back the fault information to the domain controller 10 when a difference between the first driving signal and the second driving signal is beyond a preset range. At this time, the domain controller 10 can stop providing the rear wheel steering signal to the first execution controller 210 or the second execution controller 220 according to the corresponding fault information.
In this way, whether the second execution controller is normal or not can be detected through the first execution controller, whether the first execution controller is normal or not can be detected through the second execution controller, and when the first execution controller detects that the second execution controller fails or the second execution controller detects that the first execution controller fails, a corresponding fault signal can be fed back to the domain controller, so that the domain controller is disconnected from the failed execution controller, and the rear wheel steering angle signal is stopped being provided to the failed execution controller, thereby further improving the safety and reliability of the rear wheel steering control of the vehicle. The first execution controller and the second execution controller can be connected through corresponding hard wires so as to ensure the accuracy of signal transmission.
Optionally, fig. 4 is a block diagram of a structure of another vehicle rear wheel steering control system according to an embodiment of the present invention, and as shown in fig. 4, the vehicle rear wheel steering control system further includes a power supply control module 100 and a power supply conversion module 300. The power control module 100 controls the power conversion module 300 to convert the vehicle-mounted power of the vehicle into the power supplies of the first execution controller 210, the second execution controller 220, the motor position detection module 60 and the rack position detection module 70, so as to ensure that the first execution controller 210, the second execution controller 220, the motor position detection module 60 and the rack position detection module 70 can operate normally.
For example, the power conversion module 300 may include a first power conversion module 310, a second power conversion module 320, and a third power conversion module 330. The first power conversion module 310 converts the vehicle-mounted power of the vehicle into the power of the first execution controller 210 under the control of the power control module 100; the second power conversion module 320 converts the vehicle-mounted power of the vehicle into the power supply of the second execution controller 220 under the control of the power control module 100; the third power conversion module 330 converts the vehicle-mounted power of the vehicle into the power of the motor position detection module 60 and the rack position detection module 70 under the control of the power control module 100. In this way, the first execution controller 210, the second execution controller 220, the motor position detection module 60 and the rack position detection module 70 all have respective power conversion modules, so that when one of the power conversion modules fails, the other power conversion modules can still continue to operate, and the components electrically connected with the normally operating power conversion module 300 can operate normally, so as to further improve the safety and reliability of the rear wheel steering control.
Optionally, fig. 5 is a block diagram of a structure of another vehicle rear wheel steering control system according to an embodiment of the present invention, and as shown in fig. 5, the vehicle rear wheel steering control system further includes a first or gate logic circuit 200, and the first execution controller 210 and the second execution controller 220 are electrically connected to the isolation relay 90 through the first or gate logic circuit 200, so that the isolation relay 90 receives a control signal output by the first execution controller 210 and/or a control signal output by the second execution controller 220 through the first or gate logic circuit 200.
The first or gate logic circuit 200 has two input ends, and when any one of the two input ends receives a valid signal, the first or gate logic circuit 200 can output a corresponding valid signal; and when the signals received by the two input ends are both invalid signals, the invalid signals are output. If the control signal for controlling the conduction of the isolation relay 90 is an effective signal, when only the first execution controller 210 or the second execution controller 220 outputs the control signal for controlling the conduction of the isolation relay 90 to the first or gate logic circuit 200, the first or gate logic circuit 200 can output the control signal for controlling the conduction of the isolation relay 90, so as to control the isolation relay 90 to be conducted and electrically connected with the self-learning module 80 and the domain controller 10; when the first execution controller 210 and the second execution controller 220 both output the control signal for controlling the conduction of the isolation relay 90 to the first or gate logic circuit 200, the first or gate logic circuit 200 can also output the control signal for controlling the conduction of the isolation relay 90, so as to control the isolation relay 90 to conduct the electrical connection between the self-learning module 80 and the domain controller 10; when neither the first execution controller 210 nor the second execution controller 220 outputs the control signal for controlling the isolation relay 90 to be turned on to the first or gate logic circuit 200, the first or gate logic circuit 200 cannot output the control signal for controlling the isolation relay 90 to be turned on, the isolation relay 90 is in the off state, and the self-learning module 80 cannot transmit the corresponding rack position information to the domain controller 10 through the isolation relay 90.
Accordingly, as shown with continued reference to fig. 5, the vehicle rear wheel steering control system further includes a second or gate logic circuit 400, and the first execution controller 210 and the second execution controller 220 are electrically connected to the motor driving module 30 through the second or gate logic circuit 400, such that the motor driving module 30 receives the driving signal output by the first execution controller 210 and/or the driving signal output by the second execution controller 220 through the second or gate logic circuit 400.
At this time, if the motor driving module 30 receives a driving signal for driving the rotation of the permanent magnet synchronous motor 40 as an effective signal, when only the first execution controller 210 or the second execution controller 220 outputs the driving signal to the second or gate logic circuit 400, the second or gate logic circuit 400 can output the driving signal to the motor driving module 30, so that the motor driving module 30 drives the permanent magnet synchronous motor 40 to rotate; when the first execution controller 210 and the second execution controller 220 both output the driving signal to the second or gate logic circuit 400, the second or gate logic circuit 400 can also output the driving signal to the motor driving module 30, so that the motor driving module 30 drives the permanent magnet synchronous motor 40 to rotate; when neither the first execution controller 210 nor the second execution controller 220 outputs the driving signal to the second or gate logic circuit 400, the second or gate logic circuit 400 cannot output the driving signal to the motor driving module 30, and the motor driving module 30 cannot drive the permanent magnet synchronous motor 40 to rotate.
Therefore, by arranging the corresponding OR gate logic circuit, the control over the isolation relay and the motor driving module can be realized on the premise that the first execution controller and the second execution controller operate independently, and the safety and the reliability of rear wheel steering control are further improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle rear wheel steering control system, characterized by comprising: the system comprises a domain controller, an execution control module, a motor driving module, a permanent magnet synchronous motor, a rear wheel steering execution mechanism, a motor position detection module, a rack position detection module and a self-learning module;
the domain controller is used for acquiring the state information of the vehicle and generating a rear wheel steering angle signal according to the state information;
the execution control module is used for outputting a driving signal according to the rear wheel steering angle signal;
the motor driving module is used for driving the permanent magnet synchronous motor to rotate according to the driving signal, so that the permanent magnet synchronous motor drives the rear wheel steering actuating mechanism to move, and the rear wheel steering of the vehicle is controlled;
the motor position detection module is used for detecting the position information of the permanent magnet synchronous motor and outputting the motor position information;
the rack position detection module is used for detecting the position of a rack in the rear wheel steering execution mechanism and outputting rack position information;
the self-learning module is used for acquiring the motor position information and the rack position information in real time and establishing the corresponding relation between the motor position information and the rack position information;
the domain controller is also used for receiving the rack position information output by the rack position detection module, and correcting the rear wheel steering angle signal according to the rack position information output by the rack position detection module when the rack position detection module is normal; and when the rack position detection module is abnormal, acquiring current rack position information determined by the self-learning module according to the corresponding relation and current motor position information output by the motor position detection module, and correcting the rear wheel steering angle signal according to the current rack position information.
2. The control system of claim 1, further comprising: an isolation relay;
the self-learning module is electrically connected with the domain controller through the isolation relay;
the domain controller is also used for outputting an enabling signal to the execution control module according to the rack position information output by the rack position detection module;
the execution control module is also used for outputting a control signal according to the enabling signal so that the isolation relay is switched on or off according to the control signal to enable the self-learning module to be connected with the domain controller.
3. The control system of claim 2, wherein the execution control module comprises a first execution controller and a second execution controller;
the first execution controller is used for outputting a first driving signal according to the rear wheel steering angle signal;
the second execution controller is used for outputting a second driving signal according to the rear wheel steering angle signal;
the motor driving module is used for driving the permanent magnet synchronous motor to rotate according to the first driving signal and/or the second driving signal.
4. The control system of claim 3, wherein the first execution controller is further configured to receive the second driving signal, compare the first driving signal with the second driving signal, and feed back fault information to the domain controller when a difference between the first driving signal and the second driving signal is outside a preset range.
5. The control system of claim 3, wherein the second execution controller is further configured to receive the first driving signal, compare the first driving signal with the second driving signal, and feed back fault information to the domain controller when a difference between the first driving signal and the second driving signal is outside a preset range.
6. The control system of claim 4 or 5, wherein the domain controller is further configured to stop providing the rear wheel steering signal to the first execution controller or the second execution controller based on the fault information.
7. The control system of claim 3, further comprising: the power supply control module and the power supply conversion module;
the power supply control module controls the power supply conversion module to convert a vehicle-mounted power supply of the vehicle into power supplies of the first execution controller, the second execution controller, the motor position detection module and the rack position detection module.
8. The control system of claim 7, wherein the power conversion module comprises a first power conversion module, a second power conversion module, and a third power conversion module;
the first power supply conversion module is used for converting the vehicle-mounted power supply of the vehicle into the power supply of the first execution controller under the control of the power supply control module;
the second power supply conversion module is used for converting the vehicle-mounted power supply of the vehicle into the power supply of the second execution controller under the control of the power supply control module;
the third power supply conversion module is used for converting a vehicle-mounted power supply of the vehicle into a power supply of the motor position detection module and the rack position detection module under the control of the power supply control module.
9. The control system of claim 3, further comprising: a first OR gate logic circuit;
the first execution controller and the second execution controller are electrically connected with the isolation relay through the first OR gate logic circuit;
the isolation relay is used for receiving the control signal output by the first execution controller and/or the control signal output by the second execution controller through the first OR gate logic circuit.
10. The control system of claim 3, further comprising: a second OR gate logic circuit;
the first execution controller and the second execution controller are electrically connected with the motor driving module through the second OR gate logic circuit;
the motor driving module is used for receiving the driving signal output by the first execution controller and/or the driving signal output by the second execution controller through the second OR gate logic circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010628627.7A CN111762262A (en) | 2020-07-01 | 2020-07-01 | Vehicle rear wheel steering control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010628627.7A CN111762262A (en) | 2020-07-01 | 2020-07-01 | Vehicle rear wheel steering control system |
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| CN111762262A true CN111762262A (en) | 2020-10-13 |
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| CN202010628627.7A Pending CN111762262A (en) | 2020-07-01 | 2020-07-01 | Vehicle rear wheel steering control system |
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Application publication date: 20201013 |