CN113815722A - Double-motor steering mechanism and redundancy control method thereof - Google Patents
Double-motor steering mechanism and redundancy control method thereof Download PDFInfo
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- CN113815722A CN113815722A CN202111330752.0A CN202111330752A CN113815722A CN 113815722 A CN113815722 A CN 113815722A CN 202111330752 A CN202111330752 A CN 202111330752A CN 113815722 A CN113815722 A CN 113815722A
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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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- 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
- 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
- B62D5/0487—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 detecting motor faults
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention is suitable for the field of automobile steering control, and provides a double-motor steering mechanism and a redundancy control method thereof, wherein the double-motor steering mechanism comprises: the connecting pieces are respectively arranged at two ends of the shell, one end of each connecting piece, which is far away from the shell, is provided with a connecting part connected with the upper cross arm, and a jumping part is arranged between each connecting part and the upper cross arm, so that the upper cross arm has jumping freedom degrees in the vertical, parallel and/or intersecting directions relative to a geometric central axis of each connecting piece; a transmission piece with an input end and an output end is rotatably arranged in the shell, the input end is connected with the two driving pieces in a transmission way, the output end extends out of the shell and is connected with one end of the upper steering knuckle arm, and the other end of the upper steering knuckle arm is connected with the inner side of the wheel; the double-driving-piece wheel steering device has the advantages that the double driving pieces form backup, stability and safety are provided, and the wheels can run more stably due to a certain jumping degree of freedom provided by the connecting portion during steering.
Description
Technical Field
The invention belongs to the field of automobile steering control, and particularly relates to a double-motor steering mechanism and a redundancy control method thereof.
Background
The line control technology is originated from an airplane control system, and a novel flight control system of an airplane is a line control system which converts an operation command of an airplane pilot into an electric signal and controls the airplane to fly by utilizing a computer program. This control method has been introduced in the driving of automobiles, i.e., the operation of the driver is converted into an electric signal by a sensor. Steer-by-wire is a necessary key technology for realizing path tracking and obstacle and risk avoidance of an automatic driving automobile, and the performance of the steer-by-wire directly influences the active safety and driving experience.
Three groups of ECUs (electronic control units of automobiles, also called vehicle-mounted computers) of a general steer-by-wire system on the market calculate wheel rotation angle instructions according to steering wheel signals and transmit the wheel rotation angle instructions to three motors, wherein two motors execute the wheel steering instructions, and one motor performs road feel simulation;
however, the automobile driving safety and stability cannot be well guaranteed due to the lack of reliable redundant design, and the technical problem which needs to be solved at present is solved urgently.
Disclosure of Invention
The embodiment of the invention aims to provide a double-motor steering mechanism and a redundancy control method thereof, and aims to solve the problems that the conventional steer-by-wire system lacks reliable redundancy design and the safety and the stability of automobile driving cannot be well guaranteed.
The embodiment of the present invention is realized as follows, and the dual-motor steering mechanism includes: the connecting pieces are respectively arranged at two ends of the shell, one end of each connecting piece, which is far away from the shell, is provided with a connecting part connected with the upper cross arm, and a jumping part is arranged between each connecting part and the upper cross arm, so that the upper cross arm has jumping freedom degrees in the vertical, parallel and/or intersecting directions relative to a geometric central axis of each connecting piece;
a transmission piece with an input end and an output end is rotatably arranged in the shell, the input end is connected with the two driving pieces in a transmission way, the output end extends out of the shell and is connected with one end of the upper steering knuckle arm, and the other end of the upper steering knuckle arm is connected with the inner side of the wheel; the inner side of the wheel is also connected with a lower cross arm of the suspension through a lower steering knuckle arm;
one driving piece is powered on and then drives the driving piece to rotate, the driving piece rotates to drive the upper steering knuckle arm and the wheels to steer, and meanwhile the other driving piece is switched to be a standby driving piece; or after one driving part is electrified, the driving part is not driven to rotate, then the other driving part is switched to be the main driving part and drives the driving part to rotate, and the driving part rotates to drive the upper steering knuckle arm and the wheels to steer.
Preferably, the two driving members can be formed by an electric motor or a motor and/or a speed reducer.
The double-motor steering mechanism comprises two driving parts, when any one driving part fails, the other driving part can drive the steering, the double driving parts mutually form backup, the stability and the safety during steering are improved, in addition, the upper cross arm has certain jumping freedom degree at the connecting part with the connecting part, when the jumping of the wheels during steering is transmitted to the connecting part through the upper steering knuckle arm, the certain jumping freedom degree provided by the connecting part is reduced, the hard contact is avoided, and the running of the wheels is more stable.
In order to improve the stability and safety of steer-by-wire, another object of the embodiments of the present invention is to provide a dual-motor steering mechanism redundancy control method; for use in the dual motor steering mechanism, the method comprising the steps of:
collecting wheel angle sensor data and drive shaft angle data of two driving parts;
processing the data of the wheel corner sensor and the data of the driving shaft corners of the two driving parts by adopting a triple redundancy method to obtain three wheel corners;
and judging whether the three wheel corners correspond to the steering intention or not, and controlling the opening and closing of the two driving pieces according to the judgment result, wherein the steering intention is the collected steering wheel corner data.
Further, the method further comprises: fault positioning and early warning, namely determining the fault position through a three-party voting mechanism after three wheel corners are obtained, and further isolating the fault and early warning;
the three-party voting mechanism specifically comprises: a single drive member steering failure, a wheel angle sensor failure, a multiple party failure,
judging whether the converted values of the rotating angles of the driving shafts of the single driving part in the three wheel rotating angle signals are consistent or not, if not, judging that the single driving part is failed, isolating the failed driving part and early warning a driver;
judging whether the signal values of the wheel corner sensors in the three wheel corner signals are consistent, if not, judging that the wheel corner sensors are invalid, isolating the wheel corner sensors and early warning a driver;
and judging whether the signal of the wheel rotation angle sensor is inconsistent with the three wheel rotation angle signals converted by the rotation angles of the driving shafts of the two driving parts, if so, judging that the vehicle is in a multi-way fault, reducing the driving force of the vehicle, ensuring the safety and giving an early warning to a driver.
Preferably, the data of the wheel angle sensor and the data of the angles of the driving shafts of the two driving pieces are collected in duplicate and transmitted to the steer-by-wire controller through the communication network, and the steer-by-wire controller controls the opening and closing of the two driving pieces and gives an early warning to a driver.
According to the redundancy control method for the double-motor steering mechanism, on one hand, the reliability and redundancy control of steer-by-wire driving are ensured through the main driving strategy design and the standby driving strategy design of double motors; on the other hand, a triple redundancy method of wheel signals is formed by monitoring a plurality of corners through a sensor, a three-party voting mechanism is adopted to determine the fault position, the coverage area of the type of the steer-by-wire execution layer fault is wider, the safety and the reliability of the steer-by-wire vehicle are greatly improved, timely position guidance and early warning are provided, and the steering reliability and the steering safety are improved.
Drawings
Fig. 1 is a three-dimensional structural view of a dual-motor steering mechanism according to an embodiment of the present invention;
fig. 2 is a schematic partial cross-sectional view of a dual-motor steering mechanism according to an embodiment of the present invention;
fig. 3 is an exploded view of a dual-motor steering mechanism according to an embodiment of the present invention;
fig. 4 is a schematic cross-sectional view of a dual-motor steering mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a lower housing according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a turbine provided in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a worm according to an embodiment of the present invention;
fig. 8 is a schematic block diagram of a redundant control method for a dual-motor steering mechanism according to an embodiment of the present invention.
In the drawings: 1-an electric wheel, 2-an upper steering knuckle arm, 3-a lower steering knuckle arm, 4-a suspension lower wishbone, 5-a shock absorber, 6-an upper housing, 7-a lower housing, 8-a first steering motor, 9-a second steering motor, 10-a first worm gear bearing, 11-a turbine, 12-a second turbine bearing, 13-a gasket, 14-a spring gasket, 15-a nut, 16-a worm, 17-a first worm gear bearing, 18-a second worm gear bearing, 19-a fisheye bearing, 20-an upper wishbone, 21-a bushing, 22-a connecting nut.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, a structural diagram of a dual-motor steering mechanism provided for an embodiment of the present invention includes: the device comprises a shell, connecting pieces and a driving piece, wherein the two connecting pieces are respectively arranged at two ends of the shell, one end of each connecting piece, which is far away from the shell, is provided with a connecting part connected with an upper cross arm 20, and a jumping piece is arranged between each connecting part and the upper cross arm 20, so that the upper cross arm 20 has jumping freedom degrees in vertical, parallel and/or intersecting directions relative to a geometric central axis of each connecting piece; a transmission piece with an input end and an output end is rotatably arranged in the shell, the input end is connected with the two driving pieces in a transmission way, the output end extends out of the shell and is connected with one end of the upper steering knuckle arm 2, and the other end of the upper steering knuckle arm 2 is connected with the inner side of the wheel; the inner side of the wheel is also connected with a lower cross arm 4 of the suspension through a lower steering knuckle arm 3, one driving piece is electrified to drive a driving piece to rotate, the driving piece rotates to drive an upper steering knuckle arm 2 and the wheel to steer, and the other driving piece is switched to be a standby driving piece; or after one driving part is electrified, the driving part is not driven to rotate, then the other driving part is switched to be the main driving part, the driving part is driven to rotate, and the driving part rotates to drive the upper steering knuckle arm 2 and the wheels to steer. It should be noted that the primary driving member or the backup driving member is not specifically referred to a specific driving member, but is described for convenience of describing different power states of the driving member.
In this embodiment, the two driving members are connected through the steer-by-wire controller to form driving structures which are backup to each other; the transmission part comprises a worm wheel 11 and a worm 16, and the worm wheel 11 and the worm 16 are rotatably arranged in the shell in a mutually meshed and matched mode; the worm 16 is in transmission connection with two driving parts, and one end of the worm wheel 11, which is far away from the driving parts, extends out of the shell to be connected with one end of the upper steering knuckle arm 2 and is fixedly connected through a fastener; in some scenarios, the driving element may further include a pinion and a bull gear respectively disposed on the driving shaft of the driving element and the worm 16, and the fastening element may employ a common nut and an elastic gasket; when the double-motor steering mechanism carries out steer-by-wire, a steering electric signal is transmitted to one or two driving parts through the vehicle-mounted computer, one or two driving parts are electrified to work to drive the worm 16 which is rotationally connected with the driving parts to rotate in the shell, the worm 16 rotates to drive the worm wheel 11 to rotate, the worm wheel 11 rotates to drive one end of the upper steering knuckle arm 2 which is connected with the worm wheel 11 to move, and then the other end of the upper steering knuckle arm 2 and the wheels are driven to steer; when one driving element fails, the vehicle-mounted computer can control the other driving element to be powered on to work, and the two driving elements form a redundant structure of the main driving element and the standby driving element; the two driving members may be formed by electric motors or motors and/or speed reducers, and the wheel in this embodiment is an electric wheel 1.
Meanwhile, in the steering process, as the upper cross arm 20 has a certain jumping freedom degree at the connection part of the upper cross arm and the connecting part, the jumping freedom degree can be used for improving the steering stability and the comfort level; when the wheel steering is affected by the road surface, a run-out occurs and is transmitted to the worm 13, the housing and the connecting piece of the dual-motor steering mechanism via the upper steering knuckle arm 2.
The double-motor steering mechanism provided by the embodiment of the invention comprises two driving parts, when any one driving part fails, the other driving part can drive the steering, the double driving parts mutually form backup, the stability and the safety during the steering are improved, in addition, the upper cross arm 20 has certain jumping freedom degree at the connecting part, so that when the jumping of the wheels during the steering is transmitted to the connecting part through the upper steering knuckle arm 2, the certain jumping freedom degree provided by the connecting part is reduced, the hard contact is avoided, and the running of the wheels is more stable.
As shown in fig. 1-3, in some scenarios of the present example, the drive-to-worm 16, worm 16-to-worm wheel 11 gear ratios are each greater than 1; the two driving parts are respectively a first steering motor 8 and a second steering motor 9, and are respectively connected with a worm 16 through a speed reducer consisting of a small gear and a large gear, wherein the small gear is respectively and coaxially arranged on the driving shafts of the first steering motor 8 and the second steering motor 9, and the large gear is arranged at the end part of the worm 16; the worm 16 is meshed with the worm wheel 11; the first-stage speed reduction is realized by the small gear and the large gear, and the second-stage speed reduction is realized by the worm 16 and the turbine 11; the rotating speed of the driving piece is reduced and the torque is increased by reducing the rotating speed of the first steering motor 8 and the second steering motor 9 for two times so as to drive the upper steering knuckle arm 2 to steer to realize the steering of the wheel; in practical application, the transmission ratio of the driving part to the worm 16 is 3, the transmission ratio of the worm 16 to the worm wheel 11 is 2, or the transmission ratio of the driving part to the worm 16 is 2, and the transmission ratio of the worm 16 to the worm wheel 11 is 3; can be flexibly arranged according to design requirements, and is not detailed here.
In other scenes, the two driving members are a first steering motor 8 and a second steering motor 9 respectively, the driving shafts of the first steering motor 8 and the second steering motor 9 are connected with the same pinion, and the driving shaft of the first steering motor 8 or the driving shaft of the second steering motor 9 rotates to drive the pinion to rotate; and the small gear is connected with a large gear on the worm 16 to drive the worm 16 to rotate. In the two scenarios, the installation positions of the first steering motor 8 and the second steering motor 9 are different, so that the design requirements of the dual-motor steering mechanism in more application scenarios can be met.
As shown in fig. 3, as a preferred embodiment of the present invention, the housing includes an upper housing 6 and a lower housing 7 which are detachably mounted, the driving member is mounted on the upper housing 6, and a through hole 7c for the turbine to extend is formed on the surface of the lower housing 7; and a rotary sealing member is provided at the through hole 7c for sealing the upper and lower cases.
In this embodiment, the contact surface of the upper housing 6 and the lower housing 7 is provided with an outer edge, a bolt hole 7a for bolt connection is drilled on the outer edge, and the upper housing 6 and the lower housing 7 are connected through a bolt to encapsulate the turbine 11 and the worm 16; the rotary sealing element adopts an oil seal or a sealing ring and a sealing gasket. The detachable installation mode of the upper shell 6 and the lower shell 7 is convenient for processing bearing installation holes for limiting the worm wheel 11 and the worm 16 and installation positions for installing driving pieces on the upper shell 6 and the lower shell 7; on the other hand, the matching with the connecting piece is convenient; on the other hand, the double-motor steering mechanism is convenient to disassemble, the turbine 11 and the worm 16 are maintained and replaced, and compared with the replacement of the whole double-motor steering mechanism, the double-motor steering mechanism is lower in cost. Preferably, the through hole 7c may be a stepped hole, and the turbine 11 is limited and fixed through the stepped hole, so that the turbine 11 stably rotates in the housing.
As shown in fig. 4 and 5, as a preferred embodiment of the present invention, bearing mounting holes for mounting the turbine 11 are respectively provided on the inner walls of the upper housing 6 and the lower housing 7, and as shown in fig. 3, are limited and constrained by the first turbine bearing 10 and the second turbine bearing 12 between the turbine 11 and the upper housing 6 and the lower housing 7; bearing mounting holes for mounting the worm 16 are provided as worm bearing mounting holes 7e in the opposite contact surface side walls of the upper case 6 and the lower case 7, respectively; the worm bearing is fixed through bearing bolt holes 7b formed in two sides of a worm bearing mounting hole 7e, the worm bearing mounting hole 7e and the worm 16 are fixed in a limiting mode through a first worm bearing 17 and a second worm bearing 18, and preferably, angular contact ball bearings can be adopted for both the first worm bearing 17 and the second worm bearing 18.
Further, as shown in fig. 5, a through hole 7c for extending the turbine is integrally provided with a bearing mounting hole for mounting the turbine 11, and the connecting members mounted on both sides of the housing are specifically configured as follows: a rotating shaft 7d is installed as a link on the same side of the lower housing 7 as the upper mounting worm bearing mounting hole 7e, by which the lower housing 7 is mounted between the two upper crossbars. A lower shell 7 is arranged between the two upper cross arms, so that the lower shell 7 and a structure for packaging the lower shell 7 and the upper shell 6 can be protected; and meanwhile, the two upper cross arms are tightly connected, so that the moment can be transmitted conveniently.
As shown in fig. 6, as another embodiment provided by the present invention, a limiting member is provided on the turbine 11 and is engaged with the through hole, so as to limit the axial displacement of the turbine 11 relative to the lower housing.
In this embodiment, the turbine 11 is formed by coaxially mounting a sector-shaped tooth 11b with the first turbine bearing mounting shaft 11a and the second turbine bearing mounting shaft 11d, a boss 11c is provided on the second turbine bearing mounting shaft 11d as a limiting member, or a snap ring is provided as a limiting member, and two sides of the boss or the snap ring respectively abut against the turbine and the housing. The second turbine bearing mounting shaft 11d is connected with the upper steering knuckle arm 2 through a key 11 e; and a second turbine bearing 12 is arranged at the joint of the second turbine bearing mounting shaft 11d and the through hole 7c, and a first turbine bearing 10 is arranged at the joint of the second turbine bearing mounting shaft 11d and the inner wall of the upper shell 6.
In another scenario of this implementation, the turbine 11 is formed by coaxially mounting incomplete teeth with a first turbine bearing mounting shaft 11a and a second turbine bearing mounting shaft 11d, and the second turbine bearing mounting shaft 11d is connected with the upper knuckle arm 2 through a key 11 e; and a second turbine bearing 12 is arranged at the joint of the second turbine bearing mounting shaft 11d and the through hole 7c, and a first turbine bearing 10 is arranged at the joint of the second turbine bearing mounting shaft 11d and the inner wall of the upper shell 6.
In a preferred embodiment, as shown in fig. 3, a key groove is formed on the second turbine bearing mounting shaft 11d, the key 11e is embedded in the key groove, the key 11e is further matched with a blind hole key groove on the upper knuckle arm 2 to transmit the steering torque to the wheel through the upper knuckle arm 2, and the second turbine bearing mounting shaft 11d is limited and fixed through a gasket 13, a spring gasket 14 and a nut 15.
In another preferred embodiment, as shown in fig. 1-3, the upper housing 6 is provided with a transmission cavity on the surface thereof, and the transmission cavity is used for accommodating the connecting part of the driving piece and the worm 16; the transmission cavity is positioned on one side or the middle part of the upper shell.
In the first scenario of this embodiment, the transmission cavity protrudes from one side of the upper housing 6, and is used for driving a pinion of a driving shaft of a driving member and a bull gear mounted on a worm; the two driving pieces are arranged on the upper shell 6 side by side; lubricating oil with lubricating and heat dissipating functions can be packaged, so that the driving piece and the worm run stably and the heat dissipation is good;
in a second scenario of this embodiment, the transmission cavity protrudes from the middle of the upper housing 6, and is used for a pinion of a driving shaft of the driving member and a bull gear mounted on the worm; the two driving pieces are oppositely arranged on the upper shell 6 at two sides of the transmission cavity; the vibration generated by the operation of the two driving parts can be mutually reduced, the operation stability is provided, and on the contrary, the transmission cavity is protruded at one side of the upper shell 6, so that the meshing position of the worm wheel 11 and the worm 16 in the upper shell 6 can be conveniently positioned at the middle part, and the force transmission is more balanced.
In another embodiment, as shown in fig. 3 and 4, the connecting member includes a rotating shaft 7d and a fastening element, wherein one end of the rotating shaft 7d is fixedly installed on the side wall of the housing, and the other end is connected with a connecting hole provided on the upper cross arm and fixed by the fastening element.
In this embodiment, the upper cross arm is provided with a blind hole which is not penetrated through, and the rotating shaft 7d is inserted into the blind hole and is rotatably connected with the blind hole through the fisheye bearing 19; furthermore, a boss is arranged on the blind hole, the fisheye bearing 19 is embedded in the blind hole and is in interference fit, and the boss is used for propping against the fisheye bearing 19 to prevent the fisheye bearing from being separated;
preferably, the outer circumference of the rotating shaft 7d is provided with a shoulder or step to form a connecting part, and the connecting part and the upper cross arm 20 limit and constrain the bouncing element, so that the upper cross arm 20 has bouncing freedom in the vertical, parallel and/or intersecting directions relative to the geometric central axis of the connecting part.
Specifically, the jumping element can adopt a rockshaft or a universal bearing or a fisheye bearing 19, one side of the fisheye bearing 19 is propped against the step of the rotating shaft 7d, and the other side of the fisheye bearing 19 is close to the bushing 21, so that the moving space of the fisheye bearing 19 is ensured; the bush 21 is step-shaped, and the smaller side of the bush props against the fisheye bearing 19; the outer end of the shaft 7d is also provided with a thread which cooperates with a coupling nut 22 for fastening the lower shell 7 to the coupling part, preferably using a fish eye bearing 19, so that the upper cross arm 20 has a universal rotation in the coupling part with respect to the geometric centre axis of the coupling, and thus a simultaneous vertical, parallel and intersecting play freedom.
In another embodiment, as shown in fig. 6, the turbine 11 is rotatably mounted in the housing by a turbine shaft, and the end of the turbine shaft extending out of the housing is connected to the upper knuckle arm.
In this embodiment, the turbine pivot is first turbine bearing installation axle 11a and second turbine bearing installation axle 11d, and coaxial arrangement is in the both sides of fan-shaped tooth 11b, and first turbine bearing installation axle 11a rotates with last casing 6 to be connected, and second turbine bearing installation axle 11d rotates with lower casing 7 to extend lower casing 7 fixed connection and go up knuckle arm 2.
In another embodiment, as shown in fig. 7, the worm 11 comprises: a worm body 16b, a first worm bearing mounting shaft 16a and a second worm bearing mounting shaft 16d on both sides of the worm body 16b, and a large gear 16c coaxially mounted with the worm body 16 b; the first worm bearing mounting shaft 16a and the second worm bearing mounting shaft 16d are respectively matched with the inner ring of the first worm bearing 17 and the inner ring of the second worm bearing 18; the worm body 16b meshes with the sector teeth 11b of the worm wheel 11; the large gear 16c meshes with the small gears on the output shafts of the two first steering motor 8 and the second steering motor 9.
As shown in fig. 1 and 2, a shock absorber 5 is mounted on the suspension lower cross arm for absorbing shock;
one end of the bottom of the shock absorber 5 is arranged in the middle of the lower cross arm 4 of the suspension, and one end of the top of the shock absorber 5 is connected with the frame; in addition, the suspension lower cross arm 4 is hinged with the lower knuckle arm 3 in a word, and can be hinged and matched through a ball stud or a bolt, so that the lower knuckle arm 3 has a steering function.
When the wheel of the embodiment jumps, the wheel drives the suspension lower cross arm 4 to jump through the lower knuckle arm 3, and the suspension lower cross arm 4 is connected with the lower knuckle arm 3 through the ball pin as the suspension lower cross arm is consistent with a traditional wheel module, so that the jumping freedom degree is achieved; the upper steering knuckle arm 2 drives the whole double-motor steering mechanism to jump, and the existence of the fisheye bearing 19 in the connecting piece enables the double-motor steering mechanism and the upper cross arm 20 to rotate mutually; the whole wheel jump is realized.
As shown in fig. 8, in order to improve the stability and safety of steer-by-wire, another object of the embodiment of the present invention is to provide a redundant control method for a dual-motor steering mechanism; for a dual motor steering mechanism as described above, the method comprising the steps of:
collecting wheel angle sensor data and drive shaft angle data of two driving parts;
processing the data of the wheel corner sensor and the data of the driving shaft corners of the two driving parts by adopting a triple redundancy method to obtain three wheel corners;
judging whether the three wheel corners correspond to steering intentions or not, and controlling the opening and closing of the two driving pieces according to the judgment result, wherein the steering intentions are collected steering wheel corner data;
in this embodiment, the dual-motor steering mechanism includes: the device comprises a shell, connecting pieces and a driving piece, wherein the two connecting pieces are respectively arranged at two ends of the shell, one end of each connecting piece, which is far away from the shell, is provided with a connecting part connected with an upper cross arm 20, and a jumping piece is arranged between each connecting part and the upper cross arm 20, so that the upper cross arm 20 has jumping freedom degrees in vertical, parallel and/or intersecting directions relative to a geometric central axis of each connecting piece; a transmission piece with an input end and an output end is rotatably arranged in the shell, the input end is connected with the two driving pieces in a transmission way, the output end extends out of the shell and is connected with one end of the upper steering knuckle arm 2, and the other end of the upper steering knuckle arm 2 is connected with the inner side of the wheel; the inner side of the wheel is also connected with a lower cross arm 4 of the suspension through a lower steering knuckle arm 3, one driving piece is electrified to drive a driving piece to rotate, the driving piece rotates to drive an upper steering knuckle arm 2 and the wheel to steer, and the other driving piece is switched to be a standby driving piece; or after one driving part is electrified, the driving part is not driven to rotate, then the other driving part is switched to be the main driving part and drives the driving part to rotate, and the driving part rotates to drive the upper steering knuckle arm 2 and the wheels to steer;
the wheels, the steering wheel rotating shaft and the driving shafts of the two driving pieces are respectively provided with a rotation angle sensor or an angular velocity sensor and are electrically connected with the steer-by-wire controller; the steer-by-wire controller is in communication connection with the vehicle-mounted computer;
in the operation process, the steering intention of a driver transmits a steering wheel steering angle instruction to a steer-by-wire controller through a steering angle sensor of a steering wheel rotating shaft, the steer-by-wire controller calculates the wheel steering angle and sends the wheel steering angle instruction to drivers of two driving pieces, and the drivers control the output of the two driving pieces by adopting a position loop control method; the driving stability and safety are improved by adopting a redundant mechanism with double motors which are mutually backed up; the steer-by-wire controller adopts a triple redundancy method for the calculation processing of the wheel rotation angle, on one hand, the rotation angle sensor signals of the wheels are adopted, on the other hand, the rotation angle conversion of the driving shafts of the two driving pieces is adopted, namely, the rotation angle conversion of the driving shafts of the two driving pieces is compared with the wheel rotation angle sensor value; finally, determining the fault position through a three-party voting mechanism, and further isolating the fault and early warning;
the three-party voting mechanism is as follows: when the wheel rotation angles converted by the drive shaft rotation angles of the two driving parts are different, referring to a signal of a wheel rotation angle sensor, if the wheel rotation angle value converted by the drive shaft rotation angle of one driving part is close to the wheel rotation angle sensor value, the other driving part is considered to be a fault position, the fault driving part and a corresponding driver of the fault driving part are isolated, the other driving part is used for steering independently, and simultaneously, fault information is warned to a driver;
when the wheel rotation angles converted by the drive shaft rotation angles of the two driving parts are the same, but the difference between the signal of the wheel rotation angle sensor and the wheel rotation angle converted by the drive shaft rotation angles of the two driving parts is larger, the wheel rotation angle sensor is considered to be in fault, and at the moment, the driving parts and the drivers thereof do not need to be isolated, but fault information needs to be warned to a driver.
When the wheel corners converted by the driving shaft corners of the two driving parts are different, the signals of the wheel corner sensor are simultaneously referred, if the difference between the values of the wheel corner signals of the two driving parts and the wheel corner signals of the three driving parts is overlarge in a pairwise way, the fault positions are determined differently, the three-party voting mechanism is invalid, and the driving force of the vehicle is reduced while the fault information is warned to a driver to ensure safety.
To improve the degree of automation and the practical experience of the steering mechanism, in a preferred embodiment, the method further comprises: and fault positioning and early warning, namely judging whether the steering characteristics of the wheels and the steering characteristics of the two driving pieces correspond to preset steering characteristics, if not, giving a steering characteristic source which does not correspond to the steering characteristics of the steering wheel, positioning the fault position of a corresponding sensor, and performing outward early warning.
Specifically, as shown in fig. 8, the two driving members are a first steering motor 8 and a second steering motor 9, and are connected to a steer-by-wire controller through a steering motor driver I and a steering motor driver II, respectively, the steer-by-wire controller receives a steering wheel angle command of a steering wheel angle sensor, and sends a corresponding wheel angle command to the steering motor driver I and the steering motor driver II to control the first steering motor 8 and the second steering motor 9 to operate, so that the dual-motor steering mechanism drives the electric wheels to steer; meanwhile, the steering control controller obtains corresponding actual turning angles of the wheels through a steering motor driver I and a steering motor driver II; comparing the values of the wheel angle sensors acquired by the wheel angle sensors arranged on the inner sides of the wheels with a steer-by-wire controller, and judging whether the wheel angle sensors, the first steering motor 8 and the second steering motor 9 have faults or not; and an early warning is performed.
According to the redundancy control method for the double-motor steering mechanism, on one hand, the reliability and redundancy control of steer-by-wire driving are ensured through the design of the main and standby driving strategies of the double motors; on the other hand, the monitoring and the positioning of the failure part are realized by monitoring a plurality of corners through the sensor, such as the collection of wheel corner data and drive shaft corner data of the two driving parts, and timely position guidance and early warning are provided, so that the steering reliability and the steering safety are improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A dual motor steering mechanism, comprising: a shell, a connecting piece and a driving piece,
the two connecting pieces are respectively arranged at two ends of the shell, one end of each connecting piece, which is far away from the shell, is provided with a connecting part connected with the upper cross arm, and a jumping piece is arranged between the connecting part and the upper cross arm, so that the upper cross arm has jumping freedom degrees in the vertical, parallel and/or intersecting directions relative to a geometric central axis of the connecting piece;
a transmission piece with an input end and an output end is rotatably arranged in the shell, the input end is connected with the two driving pieces in a transmission way, the output end extends out of the shell and is connected with one end of the upper steering knuckle arm, and the other end of the upper steering knuckle arm is connected with the inner side of the wheel;
one driving piece is powered on and then drives the driving piece to rotate, the driving piece rotates to drive the upper steering knuckle arm and the wheels to steer, and meanwhile the other driving piece is switched to be a standby driving piece; or after one driving part is electrified, the driving part is not driven to rotate, then the other driving part is switched to be the main driving part and drives the driving part to rotate, and the driving part rotates to drive the upper steering knuckle arm and the wheels to steer.
2. The dual-motor steering mechanism according to claim 1, wherein the transmission member comprises at least a worm wheel and a worm, the worm wheel and the worm are rotatably mounted in the housing in a mutually meshed fit manner, the worm is in transmission connection with the two driving members, and one end of the worm wheel, which is far away from the driving members, extends out of the housing to be connected with one end of the upper knuckle arm and is fixedly connected with the upper knuckle arm through a fastener.
3. The dual-motor steering mechanism according to claim 1, wherein the housing comprises an upper housing and a lower housing which are detachably mounted, the driving member is mounted on the upper housing, a through hole for the turbine to extend is formed in the surface of the lower housing, and a rotary sealing member is arranged at the through hole and used for sealing the upper housing and the lower housing; the contact surface of the upper shell and the lower shell is provided with an outer edge, bolt holes for bolt connection are drilled in the outer edge, and the upper shell and the lower shell are connected through bolts so as to package the turbine and the worm.
4. The dual-motor steering mechanism according to claim 3, wherein the upper housing has a transmission cavity formed on a surface thereof, the transmission cavity being adapted to receive a connection portion of the driving member and the worm, the transmission cavity being located at one side or a middle portion of the upper housing.
5. The dual-motor steering mechanism according to claim 2, wherein the turbine is provided with a limiting member clamped with the through hole, the limiting member is a boss or a snap ring, and two sides of the boss or the snap ring are respectively abutted against the turbine and the housing for limiting the axial displacement of the turbine relative to the lower housing; the turbine is formed by coaxially mounting a sector gear, a first turbine bearing mounting shaft and a second turbine bearing mounting shaft.
6. The dual-motor steering mechanism according to claim 1, wherein the connecting member comprises a rotating shaft and a fastening element, one end of the rotating shaft is fixedly mounted on the side wall of the housing, and the other end of the rotating shaft is connected with a connecting hole formed in the upper cross arm and is fixed by the fastening element.
7. The dual-motor steering mechanism according to claim 6, wherein the outer circumference of the rotating shaft is provided with a shoulder or step to form a connecting portion, and the connecting portion and the upper cross arm limit and constrain the bouncing member, so that the upper cross arm has bouncing freedom in a vertical, parallel and/or intersecting direction relative to a geometric center axis of the connecting member at the connecting portion.
8. A dual motor steering mechanism redundancy control method, for use in a dual motor steering mechanism as claimed in any one of claims 1 to 7, the method comprising the steps of:
collecting wheel angle sensor data and drive shaft angle data of two driving parts;
processing the data of the wheel corner sensor and the data of the driving shaft corners of the two driving parts by adopting a triple redundancy method to obtain three wheel corners;
and judging whether the three wheel corners correspond to the steering intention or not, and controlling the opening and closing of the two driving pieces according to the judgment result, wherein the steering intention is the collected steering wheel corner data.
9. The dual motor steering mechanism redundancy control method of claim 8, further comprising: fault positioning and early warning, namely determining the fault position through a three-party voting mechanism after three wheel corners are obtained, and further isolating the fault and early warning;
the three-party voting mechanism specifically comprises:
judging whether the converted values of the rotating angles of the driving shafts of the single driving part in the three wheel rotating angle signals are consistent or not, if not, judging that the single driving part is failed, isolating the failed driving part and early warning a driver;
judging whether the signal values of the wheel corner sensors in the three wheel corner signals are consistent, if not, judging that the wheel corner sensors are invalid, isolating the wheel corner sensors and early warning a driver;
and judging whether the signal of the wheel rotation angle sensor is inconsistent with the three wheel rotation angle signals converted by the rotation angles of the driving shafts of the two driving parts, if so, judging that the vehicle is in a multi-way fault, reducing the driving force of the vehicle, ensuring the safety and giving an early warning to a driver.
10. The dual-motor steering mechanism redundancy control method according to claim 8 or 9, wherein the wheel angle sensor data and the drive shaft angle data of the two driving members are collected in duplicate and transmitted to the steer-by-wire controller through a communication network, and the steer-by-wire controller controls the on/off of the two driving members and gives an early warning to a driver.
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| CN113815722B (en) | 2022-09-16 |
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