CN114906208A - Torque corner control system and electronic power steering controller - Google Patents
Torque corner control system and electronic power steering controller Download PDFInfo
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- CN114906208A CN114906208A CN202110178722.6A CN202110178722A CN114906208A CN 114906208 A CN114906208 A CN 114906208A CN 202110178722 A CN202110178722 A CN 202110178722A CN 114906208 A CN114906208 A CN 114906208A
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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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention provides a torque and corner control system and an electronic power steering controller, wherein the torque and corner control system is suitable for the electronic power steering controller with two torque and corner sensors and comprises a first torque channel, a second torque channel, a first corner channel and a second corner channel, wherein the first torque channel and the second torque channel respectively correspond to one torque sensor, the first corner channel and the second corner channel respectively correspond to one corner sensor, torque signals of the first torque channel and the second torque channel are verified mutually, when a torque signal of any channel fails, a torque signal of the other channel keeps outputting, corner signals of the first corner channel and the second corner channel are verified mutually, and when a corner signal of any channel fails, a corner signal of the other channel keeps outputting. By the technical scheme, the safety of the electric power steering control system can be effectively improved, and the driving safety is guaranteed.
Description
Technical Field
The invention relates to the field of electronic power steering control, in particular to a torque corner control system and an electronic power steering controller.
Background
The existing electric power steering control system (EPS) is composed of a corner torque sensor, a vehicle speed sensor, a control unit processor, a power-assisted motor and the like. And a steering wheel torque signal and a vehicle speed signal measured by the corner torque sensor are sent to a processor of the control unit, and are processed and calculated by the processor to determine the steering and power-assisted current of the power-assisted motor, so that the steering power-assisted control is completed. However, the conventional electric power steering control system is designed based on boosting for steering of a driver, the functional safety level of the conventional electric power steering control system can only reach ASIL-B, and if each node is abnormal, the whole electric power steering control system fails, so that serious consequences are brought to safe driving.
Therefore, the invention provides a torque corner control system and an electronic power steering controller, which can submit the reliability of the system by configuring two sets of independent parallel processing units and adopting 2 torque channels and 2 corner channels, wherein the two channels are mutually verified, and when one of the two channels fails, the other set of system can be directly switched to and mutually cooperatively controlled, so that the safety is improved.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a torque steering control system and an electronic power steering controller, which utilize 2 torque channels and 2 steering angle channels that are redundantly arranged in parallel to check each other, so as to improve the reliability of the system, and when one of the torque channels and the 2 steering angle channels fails, the torque steering control system can be directly switched to another set of torque channels and cooperatively controlled with each other, so as to improve the safety of the system and ensure safe driving.
Specifically, the invention provides a torque rotation angle control system, which is suitable for an electronic power steering controller with two torque sensors and two rotation angle sensors, and is characterized by comprising a first torque channel, a second torque channel, a first rotation angle channel and a second rotation angle channel; the first torque channel and the second torque channel respectively correspond to one torque sensor, and the first corner channel and the second corner channel respectively correspond to one corner sensor; the torque signals of the first torque channel and the second torque channel are mutually verified, and when the torque signal of any one channel is wrong, the torque signal of the other channel is kept output; the corner signals of the first corner channel and the second corner channel are mutually verified, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output; the torque sensor and the rotation angle sensor are physically independent or integrated.
Preferably, the system is such that the first torque channel and the second torque channel each have two torque paths; two paths of torque signals in two torque paths of the same torque channel are mutually verified, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output; after the two torque signals in the two torque paths of the same torque channel are verified, the torque signals of different channels are verified mutually.
Preferably, before the two torque signals of the same torque channel in the system are mutually verified, self-checking is further included.
Preferably, when the torque signal self-check in the system finds an error, the torque signal is determined to be in error; and when the two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is determined to be wrong.
Preferably, in the above system, the first torque channel is a master torque channel, and the second torque channel is a slave torque channel; the step of cross-checking the torque signals of the first and second torque channels comprises: comparing the signal of the first torque path to the signal of the second torque path for a tolerance; if the error range is within the error range, the verification is passed, and a torque signal of the main torque channel is output; if the error range is not within the error range, the torque signal in the main torque channel is trusted, the torque signal in the slave torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
Preferably, the two torque paths of the same torque channel in the system are divided into a master torque path and a slave torque path; the mutual checking step of the two torque signals in the two torque paths of the same torque channel comprises the following steps: comparing the torque signals of the master torque path and the slave torque path to determine whether the torque signals are within an error range; if the error range is within the error range, the verification is passed, and the torque signal of the main torque path is output to verify the torque signals among different channels; if the error range is not within the error range, the torque signal in the main torque channel is trusted, the torque signal in the slave torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
Preferably, in the above system, the first corner passage is a master corner passage, and the second corner passage is a slave corner passage; the step of mutually verifying the corner signals of the first corner channel and the second corner channel comprises the following steps: comparing whether the signal of the first corner channel and the signal of the second corner channel are within an error range; if the error range is within the error range, the verification is passed, and a corner signal of the main corner channel is output; if the error is not within the error range, trusting the corner signal in the main corner channel, determining the corner signal in the slave corner channel as an error signal, outputting the corner signal of the main corner channel, and performing fault diagnosis on the first corner channel and the second corner channel.
Preferably, in the above system, each of the first corner channel and the second corner channel includes a main path and a following path, the corner signal in the following path is used to check the corner signal of the main path through a following algorithm, and when the check of the corner signal in the following path and the corner signal of the main path fails, the corner signal in the corresponding corner channel is incorrect.
The invention also provides an electronic power steering controller which comprises any one of the torque steering angle control systems.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the reliability and the stability of the electronic power steering control system are effectively improved;
2. the driving safety is guaranteed.
Drawings
Fig. 1 is a schematic diagram of a torque angle control system according to a preferred embodiment of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1, a schematic structural diagram of a torque rotation angle control system according to a preferred embodiment of the present invention is suitable for an electronic power steering controller having two torque sensors and two rotation angle sensors, and includes a first torque channel, a second torque channel, a first rotation angle channel, and a second rotation angle channel. The two torque sensors and the two corner sensors of the electronic power steering controller work independently to respectively acquire torque information and corner information applied to a steering wheel by a driver, and the torque sensors and the corner sensors are physically independent or integrated, namely, the torque sensors and the corner sensors can be independent or physically integrated, and the torque sensors and the corner sensors belong to the technical scheme of the invention. The first torque channel and the second torque channel respectively correspond to one torque sensor, namely, the two torque channels respectively correspond to one torque sensor, and the acquired signals come from two independent sensors. The first corner channel and the second corner channel respectively correspond to a corner sensor, namely the two corner channels respectively correspond to a corner sensor, and the acquired signals come from two independent sensors. When the device works, the two groups of torque signals of the first torque channel and the second torque channel are mutually verified, and when the torque signal of any one channel is wrong, the torque signal of the other channel is kept to be output; and the corner signals of the first corner channel and the second corner channel are mutually verified, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output.
It should be noted that the error in the torque signal or the error in the rotation angle signal of a certain channel includes both a failure or an error in the torque signal or the rotation angle signal caused by a hardware fault of the torque or rotation angle sensor, and a transmission error caused by an error in the torque channel or the rotation angle channel.
In the technical scheme, if any torque or corner sensor has a hardware fault, the torque signal or the corner signal in the corresponding torque channel or corner channel fails or has an error, but the torque signal or the corner signal in the torque channel or corner channel corresponding to the other torque or corner sensor can still be normally output, so that the normal and stable operation of the whole electronic power steering control system is ensured. If all the torque and corner sensors work normally, but one torque channel or one corner channel breaks down, the rest torque channels and the rest corner channels can work normally, so that the output of torque signals and corner signals is guaranteed, the normal and stable work of the whole electronic power steering control system is guaranteed, the driving assistance is provided for a driver, and the driving safety is guaranteed.
Through the technical scheme of the invention, on one hand, the normal operation of the system can be ensured as much as possible when a fault occurs, and on the other hand, the reliability of the system can be improved through redundancy check, so that the driving safety is finally ensured.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the first torque channel and the second torque channel have two torque paths, respectively; two paths of torque signals in two torque paths of the same torque channel are mutually verified, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output; after the two torque signals in the two torque paths of the same torque channel are verified, the torque signals of different channels are verified with each other.
In this technical scheme, all have two torque passageways in each torque channel, two torque passageways of same torque channel are independent respectively to the transmission of the torque signal of the steering wheel of same sensor collection. Therefore, two independent paths are used for transmitting the torque signals collected by each sensor and are verified mutually, when one path fails, the other path can also output normally, and the channel can still output the torque signals normally. According to the invention, two paths of signals in each torque channel work simultaneously, and the absolute value of the torque is diagnosed and checked mutually so as to achieve more accurate signal output. After the two torque channels respectively output torque signals, diagnosis and verification are carried out between the two torque channels, so that the reliability of the whole electronic power-assisted steering control system is improved through two-stage verification.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, before the two torque signals of the same torque channel are mutually verified, a self-checking process is further included, preferably, the self-checking process includes detecting one or more of input and output voltages, an error flag bit, a failure flag bit, a duty ratio, a time frequency, and the like of the electronic component, and through the self-checking process, the reliability of the torque signals can be effectively improved, so that the reliability of the whole system is improved. When the torque signals in each torque path are verified by the hardware circuit and no error instruction is sent, if signal sending delay or voltage value is incorrect, the two torque signals of the same torque channel are verified with each other. If an error instruction is sent out when one path of torque signal self-checking exists, the torque signal is determined to be an error signal, and the other path of self-checking error-free torque signal of the torque channel is output without checking and is checked with the torque signal in the other channel.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, when the torque signal has an error in the self-test, the torque signal is determined to be in error; and when the two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is determined to be wrong.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the first torque channel is a master torque channel, and the second torque channel is a slave torque channel; the step of cross-checking the torque signals of the first and second torque paths comprises: comparing the signal of the first torque path to the signal of the second torque path for a tolerance; if the error range is within the error range, the verification is passed, and a torque signal of the main torque channel is output; if the error range is not within the error range, trusting the torque signal in the master torque channel, determining the torque signal in the slave torque channel as an error signal, outputting the torque signal of the master torque channel, and carrying out fault diagnosis on the first torque channel and the second torque channel.
In the technical scheme, a master-slave relationship is set for the torque channels, if the two channels normally output torque signals, the torque signals of the two channels are verified, whether the signal of the first torque channel and the signal of the second torque channel are within an error range is compared, if the signal of the first torque channel and the signal of the second torque channel are within the error range, the two torque channels normally work, and the signal of the main torque channel, namely the first torque channel, is output; if the signals are not in the error range, the situation that one or two torque channels do not work normally is indicated, the torque signals in the main torque channel are absolutely trusted, the torque signals in the slave torque channels are determined to be error signals, the torque signals of the main torque channel are output, and meanwhile fault diagnosis is carried out on the first torque channel and the second torque channel so as to find out the reason why the signals of the two torque channels are not in the error range and repair is carried out. The invention does not limit the control unit or the execution main body when the first torque channel and the second torque channel are subjected to fault diagnosis, only outputs signals which need to carry out fault diagnosis on the first torque channel and the second torque channel, and carries out fault diagnosis under the control of the corresponding modules.
Based on the above embodiment, the first torque channel is a master channel, the second torque channel is a slave channel, when the first torque channel is faulty or wrong, if no signal is input to the control unit, the control unit cuts off the power input of the channel, the whole set of system keeps the slave channel working normally, the power input of the whole set of system is half of that in normal working, namely, 50% derated output, and the driver can still drive the vehicle to a maintenance place. When the second torque channel is in fault or error, for example, no signal is input to the control unit, at this time, the first main torque channel can take over the second slave torque channel, and sends the signal of the main torque channel to the first and second control units, so that the controller is ensured to still output according to full power.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, two torque paths of the same torque channel are divided into a master torque path and a slave torque path; the mutual checking step of the two torque signals in the two torque paths of the same torque channel comprises the following steps: comparing the torque signals of the master torque path and the slave torque path to determine whether the torque signals are within an error range; if the error range is within the error range, the verification is passed, and the torque signal of the main torque path is output to verify the torque signals among different channels; if the error range is not within the error range, the torque signal in the main torque channel is trusted, the torque signal in the slave torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
In the technical scheme, a master-slave relationship is set for torque paths in the same torque channel, after hardware self-checking of torque signals in the torque paths is passed, the master torque path is absolutely trusted to output the torque signals in the master torque path no matter whether the torque signals in the two torque paths are in an error range during checking, but when the torque signals are not in the error range during checking, fault diagnosis is carried out on the first torque path and the second torque path after the signals are output, and reasons are searched and repaired. The invention does not limit the control unit or the execution main body when the first torque channel and the second torque channel are subjected to fault diagnosis, only outputs signals which need to carry out fault diagnosis on the first torque channel and the second torque channel, and carries out fault diagnosis under the control of the corresponding modules.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the first corner passage is a master corner passage, and the second corner passage is a slave corner passage; the step of mutual checking of the corner signals of the first corner channel and the second corner channel comprises the following steps: comparing whether the signal of the first corner channel and the signal of the second corner channel are within an error range; if the error range is within the error range, the verification is passed, and a corner signal of the main corner channel is output; if the error is not within the error range, trusting the corner signal in the main corner channel, determining the corner signal in the slave corner channel as an error signal, outputting the corner signal of the main corner channel, and performing fault diagnosis on the first corner channel and the second corner channel.
In the technical scheme, a master-slave relationship is set for the corner channels, if the two channels normally output corner signals, the corner signals of the two channels are verified, whether the signal of the first corner channel and the signal of the second corner channel are within an error range is compared, if the signal of the first corner channel and the signal of the second corner channel are within the error range, the two corner channels normally work, and the signal of the main corner channel, namely the first corner channel, is output; if the signal is not in the error range, the situation that one or two corner channels do not work normally is indicated, the corner signal in the main corner channel is trusted absolutely, the corner signal in the slave corner channel is determined to be an error signal, the corner signal of the main corner channel is output, and meanwhile fault diagnosis is carried out on the first corner channel and the second corner channel so as to find out the reason that the signals of the two corner channels are not in the error range and repair the reason. The invention does not limit the control unit or the execution main body when the fault diagnosis is carried out on the first corner channel and the second corner channel, only outputs the signal which needs to carry out the fault diagnosis on the first corner channel and the second corner channel, and carries out the fault diagnosis under the control of the corresponding module.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, each of the first corner channel and the second corner channel includes a main path and a following path, the corner signal in the following path is used to check the corner signal of the main path through a following algorithm, and when the check of the corner signal in the following path and the corner signal of the main path fails, the corner signal in the corresponding corner channel is incorrect.
In the technical scheme, two corner channels work simultaneously macroscopically, a corner signal is sent to a micro control unit, the micro control unit obtains an absolute steering wheel angle through a vernier algorithm, the value of the main channel is absolutely believed during verification through master-slave setting, and diagnosis of the two channels is triggered when the values of the first corner channel and the second corner channel are not in an error range. In actual microcosmic work, when each channel is ignited, a corner sensor instantly acquires the absolute position of the steering wheel at the moment, two paths of signals exist in each channel in the rotation process of the steering wheel, the main signals are acquired and sent to a control unit, meanwhile, one path of signals are used for verifying the main signals through a following algorithm, when the verification passes, the main signals are output, and when the verification fails, the corner signals in the channels fail. Through the technical scheme of the invention, when the corner signals in the two channels are inconsistent or deviate, the main channel is absolutely believed and the auxiliary channel is abandoned, and the functions of the application layer are not influenced, such as: the states of steering wheel return, automatic parking and automatic driving are different from the states of the torque sensor, the ECU degradation mode is not entered, and the safety of the electronic power steering control system can be further improved.
In the technical scheme of the invention, in the electronic power-assisted steering control system, a torque signal passes through at most three levels of verification, the first verification is self-checking, the second verification is the verification between different torque passages of the same torque passage, the third verification is the verification between different torque passages, a corner signal also passes through at most three levels of verification, the first verification is self-checking, the second verification is the signal following verification in the same torque passage, the third verification is the verification between different torque passages, and the control unit carries out power-assisted calculation according to the output torque and the corner signal after the verification is finished. According to the technical scheme, the accuracy and the reliability of the torque and corner signals are effectively improved, the stability and the reliability of the electronic power-assisted steering control system are improved, and the driving safety is further guaranteed.
The invention also provides an electronic power steering controller, which comprises any one of the torque angle control systems.
According to the technical scheme, two sets of independent parallel processing units are configured, 2 torque channels and 2 corner channels are adopted, and the two channels are checked with each other, so that the reliability of the system can be improved, more accurate signal output is achieved, when one of the two channels fails, the other system can be directly switched to and cooperatively controlled with each other, and the safety is improved.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (9)
1. A torque and corner control system is suitable for an electronic power steering controller with two torque sensors and two corner sensors and is characterized by comprising a first torque channel, a second torque channel, a first corner channel and a second corner channel;
the first torque channel and the second torque channel respectively correspond to one torque sensor, and the first corner channel and the second corner channel respectively correspond to one corner sensor;
the torque signals of the first torque channel and the second torque channel are mutually verified, and when the torque signal of any one channel is wrong, the torque signal of the other channel is kept output;
the corner signals of the first corner channel and the second corner channel are mutually verified, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output;
the torque sensor and the rotation angle sensor are physically independent or integrated.
2. The torque angle control system of claim 1, wherein the first torque channel and the second torque channel each have two torque passages;
two paths of torque signals in two torque paths of the same torque channel are mutually verified, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output;
after the two torque signals in the two torque paths of the same torque channel are verified, the torque signals of different channels are verified with each other.
3. The torque angle control system according to claim 2, wherein before the two torque signals of the same torque channel are mutually verified, self-checking is further included.
4. A torque angle control system according to claim 3, wherein when the torque signal is found to be erroneous from the test, the torque signal is asserted to be erroneous; and when the two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is determined to be wrong.
5. The torque angle control system according to any one of claims 1 to 4, wherein the first torque path is a master torque path and the second torque path is a slave torque path;
the step of cross-checking the torque signals of the first and second torque channels comprises:
comparing the signal of the first torque channel with the signal of the second torque channel to determine whether the signals are within an error range;
if the error range is within the error range, the verification is passed, and a torque signal of the main torque channel is output;
if the error range is not within the error range, the torque signal in the main torque channel is trusted, the torque signal in the slave torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
6. The torque angle control system according to any one of claims 2 to 4, wherein two torque paths of the same torque path are divided into a master torque path and a slave torque path;
the mutual checking step of the two torque signals in the two torque paths of the same torque channel comprises the following steps:
comparing the torque signals of the master torque path and the slave torque path to determine whether the torque signals are within an error range;
if the error range is within the error range, the verification is passed, and the torque signal of the main torque path is output to verify the torque signals among different channels;
if the error range is not within the error range, the torque signal in the main torque path is trusted, the torque signal in the auxiliary torque path is determined to be an error signal, the torque signal of the main torque path is output, and fault diagnosis is carried out on the first torque path and the second torque path.
7. The torque angle control system according to claim 1, wherein the first angle channel is a master angle channel, and the second angle channel is a slave angle channel;
the step of mutually verifying the corner signals of the first corner channel and the second corner channel comprises the following steps:
comparing whether the signal of the first corner channel and the signal of the second corner channel are within an error range;
if the error range is within the error range, the verification is passed, and a corner signal of the main corner channel is output;
if the error range is not within the error range, trusting the corner signal in the main corner channel, determining the corner signal in the slave corner channel as an error signal, outputting the corner signal of the main corner channel, and performing fault diagnosis on the first corner channel and the second corner channel.
8. The torque angle control system according to claim 1 or 7, wherein each of the first angle channel and the second angle channel includes a main path and a following path, the angle signal in the following path is used to verify the angle signal of the main path by a following algorithm, and when the angle signal in the following path and the angle signal in the main path fail to verify, the angle signal in the corresponding angle channel is incorrect.
9. An electronic power steering controller comprising a torque steering angle control system according to any one of claims 1 to 4 or 7.
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