CN201901171U - Electric power-assisted steering control system adopting dual-microcomputer to jointly control relay - Google Patents
Electric power-assisted steering control system adopting dual-microcomputer to jointly control relay Download PDFInfo
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- CN201901171U CN201901171U CN2010205452765U CN201020545276U CN201901171U CN 201901171 U CN201901171 U CN 201901171U CN 2010205452765 U CN2010205452765 U CN 2010205452765U CN 201020545276 U CN201020545276 U CN 201020545276U CN 201901171 U CN201901171 U CN 201901171U
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Abstract
The utility model relates to an electric power-assisted steering control system adopting dual-microcomputer to jointly control a relay. The electric power-assisted steering control system comprises a power supply, a power supply interface circuit, a relay, a MOSFET (metal-oxide-semiconductor field effect transistor) driving axle, a pre-driving circuit and a motor, wherein the power supply, the power supply interface circuit, the relay, the MOSFET driving axle are sequentially connected; the pre-driving circuit, the MOSFET(metal-oxide-semiconductor field effect transistor) driving axle and the motor are sequentially connected; the electric power-assisted steering control system also comprises a main MCU (microprogrammed control unit), an auxiliary MCU and a relay driving circuit, wherein the main MCU is connected with the auxiliary MCU in a communication mode; the power supply is respectively connected with the main MCU and the auxiliary MCU; the relay driving circuit is respectively connected with the main MCU and the auxiliary MCU and is connected with the relay; the main MCU is connected with the pre-driving circuit; and the relay is connected with the main MCU. Compared with the prior art, the electric power-assisted steering control system has the advantages of leading the power-assisted steering system to be in failure safe state timely, thereby effectively improving the safety of automobile driving when the main microprocessor in an ECU (electronic control unit) breaks down and the like.
Description
Technical field
The utility model relates to a kind of electric power steering control system, especially relates to the electric power steering control system of the common control relay of a kind of dual micro processor.
Background technology
Electric boosting steering system (EPS-Electric Power Steering) is a kind of emerging technology in the automobile steering system developing history evolution, for traditional vehicle, electric boosting steering system has energy-conservation, environmental protection, turn to feel easy to adjust, the trouble-shooting intellectuality meets the technological trend of the finished vehicle electronic network integration, has more and more become the assembling target of orthodox car aspect steering swivel system; For electronlmobil or hybrid vehicle, electric boosting steering system is one of three big crucial auto parts and components systems that support electronlmobil/hybrid vehicle development.
The crucial subassembly of electric boosting steering system comprises: 1, sensor; 2, electronic control unit; 3, motor; 4, physical construction
Wherein, electronic control unit is the hinge of the above crucial subassembly of contact.Electric boosting steering system is as the high auto parts and components system of safe class, and its technical threshold is higher, and its electronic control unit core technology mainly contains following aspect: 1, software controlling strategies; 2, fault detection and security of system strategy; 3, communication/demarcation/diagnosis; 4, the ECU hardware that has strong reliability.
The electric boosting steering system basic function is by being installed on the torque sensor of steering column, detecting chaufeur handling maneuver moment, and flow to electronic control unit.Electronic control unit is except receiving torque sensor signal, also receive information such as the speed of a motor vehicle by software control, the power steering square that the electric boosting steering system of making a strategic decision out need provide, and by the electric machine control algorithm, the control motor makes the desirable power steering square of electric boosting steering system output, slow down by physical construction again and increase torsion effect, come driver assistance person that vehicle is turned to.System's power-assisted logic is: power steering is big during vehicle low speed, turns to light; Power steering is little during high speed, turns to heavyly relatively, to obtain better road feel, avoids vehicle unstable.
In addition; fault detection of electric boosting steering system electronic control unit and system protection algorithm be for sensor, the ECU electronic control unit, and the fault of parts such as motor is carried out careful careful fault detection; and, take concrete emergency protection measure according to concrete failure modes.
This patent is paid close attention to the emergency protection measure behind the microprocessor generation critical failure itself in the ECU electronic control unit.
Patent (CN200810040360.9,2008.11.19 openly) (document 1) disclosed a kind of automobile two MCU electric power-assisted steering control methods and system, based on existing EPS control technology, adopt the form of dual micro processor MCU, main MCU controls assist motor work, monitors the mode of operation of main MCU from MCU, when main MCU operation irregularity, then by the right to work of depriving main MCU from MCU, the control assist motor normal operation that replaces constitutes the Redundant Control mode.
Contrast the utility model and document 1 are not difficult to find, the two all relates to electric boosting steering system, adopt the form of dual micro processor MCU, the key distinction has: documents 1 is when main MCU operation irregularity, then by the right to work of depriving main MCU from MCU, control assist motor normal operation replaces, and the step that this invention is taked after main MCU fault is from the MCU closed relay, stop the motor power supply, the technical matters difference that solves, the former makes automobile be in electric boosted state all the time, and the latter can improve safety when deadlock occurring for master microprocessor in ECU.
Patent (DE202004013670, the 2004-11-04 Granted publication) disclosed a kind of electric boosting steering system control setup, comprise two CPU and a WDT (house dog), comprise that also a main MCU is used for the failure condition of electric machine control algorithm process and monitoring I/O end, a fault that is used to monitor main MCU and input/output terminal from MCU, an outside WDT circuit is used to monitor main MCU fault, and outside WDT circuit and bridge drive output circuit (gate logic and FET driving circuit) all the ASIC structure.
Contrast the utility model and document 2 are not difficult to find, the two all relates to electric boosting steering system, all can realize two mutual malfunction monitorings of MCU, after main MCU fault, stop the motor power supply, the key distinction has: documents 2 adopts main MCU, auxiliary MCU, outside WDT (house dog) three combines and realizes monitoring, and main MCU and auxiliary MCU accept the RESET signal from outside WDT, and should invention directly adopt auxiliary MCU to communicate by letter with main MCU, do not have outside WDT, and main MCU and auxiliary MCU do not adopt the RESET signal, concrete monitor mode difference.
This invention and document 2 contrasts, also have following difference: this invention is directly adopted and is assisted MCU to communicate by letter with main MCU, does not have outside WDT, and main MCU and auxiliary MCU do not adopt the RESET signal, the function of WDT is integrated among the auxiliary MCU, and this distinguishing characteristics makes structure simpler.
Summary of the invention
The utility model provides a kind of electric power steering control system that has improved the common control relay of dual micro processor of vehicle drive safety.
The purpose of this utility model can be achieved through the following technical solutions:
The electric power steering control system of the common control relay of a kind of dual micro processor, comprise power supply, power interface circuit, relay, the MOSFET drive axle, predrive circuit, motor, described power supply, power interface circuit, relay, the MOSFET drive axle connects successively, described predrive circuit, the MOSFET drive axle, motor connects successively, it is characterized in that, also comprise main MCU, auxiliary MCU, relay drive circuit, described main MCU is connected with auxiliary MCU by signalling methods, described power supply respectively with main MCU, auxiliary MCU connects, described relay drive circuit respectively with main MCU, auxiliary MCU connects, described relay drive circuit is connected with relay, described main MCU is connected with predrive circuit respectively, and described relay is connected with main MCU.
Described main MCU can be XC2364B type microprocessor.
Described auxiliary MCU can be the 78KORFB3 series microprocessor.
Described relay drive circuit comprises aerotron Q2, aerotron Q4, resistance R 60, aerotron Q7, aerotron Q5, aerotron Q3, resistance R 61, resistance R 58, diode D4;
Described aerotron Q2 comprises base stage, emitter, collecting electrode, and its emitter is connected with the 12V power supply;
Described aerotron Q4 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of main MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the base stage of aerotron Q2 by resistance R 60;
Described aerotron Q7 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of auxiliary MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the 5V power supply by resistance R 61;
Described aerotron Q5 comprises base stage, emitter, collecting electrode, and its base stage is connected with the 5V power supply by resistance R 61, and its emitter is connected back ground connection with base stage;
Described aerotron Q3 comprises base stage, emitter, collecting electrode, and its base stage is connected the back and is connected with the L-end of relay by resistance R 58 with the collecting electrode of aerotron Q5, described grounded emitter, and described collecting electrode is connected with the L-end of relay;
The positive pole of described diode is connected with the L-of relay end, and the negative pole of described diode is connected with the L+ of relay end.
Described signalling methods is a spi bus.
Compared with prior art, the utlity model has following advantage:
1, main MCU operation control program and trouble diagnosing supervisor, auxiliary MCU is to the monitoring of main MCU faults itself, connect by signalling methods between main MCU and the auxiliary MCU, after main MCU breaks down, auxiliary MCU can switch relay in time and closes servo steering system, so that servo steering system is in fail safe situation in time, thereby improved the vehicle drive safety effectively.
2, directly adopt auxiliary MCU communicate by letter, do not have outside WDT, and main MCU and auxiliary MCU do not adopt the RESET signal, the function of WDT is integrated in assists among the MCU, make structure simpler with main MCU.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the circuit diagram of relay drive circuit of the present utility model.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
Embodiment
The proposition of fail safe hidden danger: break down for whole EPS system (comprising: sensor, ECU, electrical fault etc.), ECU can detect fault in real time, thereby and can cut off motor power loop relay timely and effectively and realize system protection.
If the system in case of system halt fault appears in ECU-MCU self, control and diagnostic program all can't normally move, can't implement to detect for the system failure, in addition also can't disable motor electric power loop relay, at galloping and need promptly dodge under the situation, fatal traffic accident will be produced most probably.Based on the consideration of this potential safety hazard, the utility model adopts following method:
There are two microprocessors EPS electronic control unit (ECU) lining, main MCU operation control program and trouble diagnosing supervisor; Only move watchdog routine in the auxiliary MCU to main MCU faults itself.Connect by signalling methods between main MCU and the auxiliary MCU.
The switch of motor power relay, control jointly by two MCU, hardware configuration as shown in Figure 1, comprise power supply 3, power interface circuit 4, relay 5, MOSFET drive axle 8, predrive circuit 7, motor, main MCU1, auxiliary MCU2, relay drive circuit 6, described power supply, power interface circuit, relay, the MOSFET drive axle connects successively, described predrive circuit, the MOSFET drive axle, motor connects successively, described main MCU is connected with auxiliary MCU by signalling methods, described power supply respectively with main MCU, auxiliary MCU connects, described relay drive circuit respectively with main MCU, auxiliary MCU connects, described relay drive circuit is connected with relay, described main MCU is connected with predrive circuit respectively, and described relay is connected with main MCU.
As shown in Figure 2, described relay drive circuit comprises aerotron Q2, aerotron Q4, resistance R 60, aerotron Q7, aerotron Q5, aerotron Q3, resistance R 61, resistance R 58, diode D4;
Described aerotron Q2 comprises base stage, emitter, collecting electrode, and its emitter is connected with the 12V power supply;
Described aerotron Q4 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of main MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the base stage of aerotron Q2 by resistance R 60;
Described aerotron Q7 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of auxiliary MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the 5V power supply by resistance R 61;
Described aerotron Q5 comprises base stage, emitter, collecting electrode, and its base stage is connected with the 5V power supply by resistance R 61, and its emitter is connected back ground connection with base stage;
Described aerotron Q3 comprises base stage, emitter, collecting electrode, and its base stage is connected the back and is connected with the L-end of relay by resistance R 58 with the collecting electrode of aerotron Q5, described grounded emitter, and described collecting electrode is connected with the L-end of relay;
The positive pole of described diode is connected with the L-of relay end, and the negative pole of described diode is connected with the L+ of relay end.
Wherein, GROUP21 is main MCU control command output pin; Safe REY CTR is auxiliary MCU control command output pin; PW+12V is power line voltage+12V input, and is after relay closes, consistent with the MOSFET power supply voltage.CM+12V is main relay control power line voltage+12V input.
Relay is simultaneously by main MCU (GROUP21 control command output port) and auxiliary MCU (Safe_REY_CTR control command output port) control.When voltage difference is near 12V between L+ on the relay and the L-, relay closes.After relay closes, motor-driven bridge power supply (MOSFET power supply) circuit communication.
Wherein main MCU control:
When GROUP21 was low level, Q4 ended, and Q2 is also by (switch disconnection);
When GROUP21 was high level, Q4 was saturated, Q2 also saturated (switch closure),
R60 is a current-limiting resistance, protection Q4, Q2 overcurrent.D4 is a Relay protection diode, is used for surge and suppresses.
Auxiliary MCU control:
When Safe_REY_CTR was low level, Q7 ended, and Q5 is saturated, and Q3 is just by (switch disconnection);
When Safe_REY_CTR was high level, Q7 was saturated, and Q5 ends, and Q3 is with regard to saturated (switch closure);
R61, R58 are current-limiting resistance, protection Q5, Q7, Q3 overcurrent.
According to know-why scheme shown in Figure 1, can come system safety is analyzed from following 5 aspects:
One: be implemented in main MCU and take place unusually, under the situation that main MCU mileage preface can not detect and handle fault,, make EPS system closing power-assisted, switch to the mechanical steering state by auxiliary MCU realization fault detection and system protection.
Two: this scheme provides possibility for a kind of like this fail safe mechanism of realization on hardware design: if main MCU et out of order, then auxiliary MCU can identify fault and protect processing by the overtime detection of intercommunication; If auxiliary MCU is prior to main MCU et out of order, then main MCU can be overtime by communication to each other, monitor auxiliary MCU fault, and cut off EPS system power-assisted immediately, thereby after avoiding main MCU self et out of order, the system of abnormal work may be in state out of control fully and cause life danger.
Three: whether one of auxiliary MCU Core Feature can be monitored main MCU exactly in real time fault, and under failure condition, in time disable motor electric power loop relay.
Four: auxiliary MCU and main MCU control motor relay jointly.Thereby guarantee: either party breaks down among auxiliary MCU and the main MCU, then can detect fault by the other side, and in time by the other side's closed relay, allows whole EPS system stop power-assisted, reverts to the manual steering state.
Five: two MCU mechanism compare with the effect of external hardware house dog and inner house dog:
If 1 only has inner house dog: house dog is overflowed and the frequency that causes MCU to reset is unexpected, therefore in same driving repetition period, the shutoff repeatedly that resets repeatedly and cause because of MCU may appear in the power-assisted of EPS system, recover such runaway condition repeatedly, undoubtedly, will bury huge hidden danger for security of system.
If 2 only have the external hardware house dog: after main MCU breaks down, this moment, main MCU itself lost the ability of block system relay, and outer watchdog can periodically be monitored main MCU whether fault is arranged, but the shutoff that outer watchdog sends instruction can not disconnect by control relay.Adopt general external hardware house dog at present, its to the ability of relay control during power-up initializing because of itself and the more weak interactivity of main MCU, and can not obtain test.
If 3 existing external hardware house dogs, inner house dog is arranged again, still exist the outer watchdog may be after critical failure takes place main MCU self, close continuous electric motor loop relay and cause system under the critical failure situation, can not close the EPS system in the abnormal work.
4, adopt main MCU and auxiliary MCU scheme, can: main MCU cause program can not cycling service during abnormal condition, by auxiliary MCU closed relay; When auxiliary MCU et out of order, can detect in advance by main MCU, and by main MCU closed relay with protection system; Whether auxiliary MCU has correct control ability to relay can give on-line test, when if auxiliary after tested MCU has lost the ability of correct control relay, can be by main MCU closed relay, thus allow the EPS system be in fail safe situation early.
Claims (5)
1. the electric power steering control system of the common control relay of dual micro processor, comprise power supply, power interface circuit, relay, the MOSFET drive axle, predrive circuit, motor, described power supply, power interface circuit, relay, the MOSFET drive axle connects successively, described predrive circuit, the MOSFET drive axle, motor connects successively, it is characterized in that, also comprise main MCU, auxiliary MCU, relay drive circuit, described main MCU is connected with auxiliary MCU by signalling methods, described power supply respectively with main MCU, auxiliary MCU connects, described relay drive circuit respectively with main MCU, auxiliary MCU connects, described relay drive circuit is connected with relay, described main MCU is connected with predrive circuit respectively, and described relay is connected with main MCU.
2. the electric power steering control system of the common control relay of a kind of dual micro processor according to claim 1 is characterized in that, described main MCU can be XC2364B type microprocessor.
3. the electric power steering control system of the common control relay of a kind of dual micro processor according to claim 1 is characterized in that, described auxiliary MCU can be the 78KORFB3 series microprocessor.
4. the electric power steering control system of the common control relay of a kind of dual micro processor according to claim 1, it is characterized in that described relay drive circuit comprises aerotron Q2, aerotron Q4, resistance R 60, aerotron Q7, aerotron Q5, aerotron Q3, resistance R 61, resistance R 58, diode D4;
Described aerotron Q2 comprises base stage, emitter, collecting electrode, and its emitter is connected with the 12V power supply;
Described aerotron Q4 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of main MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the base stage of aerotron Q2 by resistance R 60;
Described aerotron Q7 comprises base stage, emitter, collecting electrode, and its base stage is connected with the mouth of auxiliary MCU, and its emitter is connected back ground connection with base stage, and its collecting electrode is connected with the 5V power supply by resistance R 61;
Described aerotron Q5 comprises base stage, emitter, collecting electrode, and its base stage is connected with the 5V power supply by resistance R 61, and its emitter is connected back ground connection with base stage;
Described aerotron Q3 comprises base stage, emitter, collecting electrode, and its base stage is connected the back and is connected with the L-end of relay by resistance R 58 with the collecting electrode of aerotron Q5, described grounded emitter, and described collecting electrode is connected with the L-end of relay;
The positive pole of described diode is connected with the L-of relay end, and the negative pole of described diode is connected with the L+ of relay end.
5. the electric power steering control system of the common control relay of a kind of dual micro processor according to claim 1 is characterized in that described signalling methods is a spi bus.
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| CN102582677A (en) * | 2011-01-06 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system |
| CN103407486A (en) * | 2013-08-12 | 2013-11-27 | 东方久乐汽车电子（上海）有限公司 | Automobile electric power assistance steering control system |
| CN103448790A (en) * | 2012-05-29 | 2013-12-18 | 株式会社万都 | Electric power steering system and method for checking initial driving thereof |
| CN104283485A (en) * | 2013-07-09 | 2015-01-14 | 比亚迪股份有限公司 | Electric car and motor control system thereof and control method |
| CN104442444A (en) * | 2013-09-18 | 2015-03-25 | 比亚迪股份有限公司 | Motor control system for electric vehicles and electric vehicle with same |
| CN104750087A (en) * | 2013-12-25 | 2015-07-01 | 联创汽车电子有限公司 | System and method for diagnosing external clock source |
| CN105128925A (en) * | 2015-09-08 | 2015-12-09 | 苏州市博得立电源科技有限公司 | Electric power steering control system of automobile |
| CN106452269A (en) * | 2016-12-14 | 2017-02-22 | 合肥德仁智能科技有限公司 | High-reliability alternating-current motor control device applied to electric vehicles |
| CN107436596A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | The major-minor MCU redundancies monitoring method of electric boosting steering system |
| CN108137088A (en) * | 2015-10-06 | 2018-06-08 | 罗伯特博世汽车转向有限公司 | For running the method for the steering of motor vehicle |
| CN108604083A (en) * | 2016-02-05 | 2018-09-28 | 蒂森克虏伯普利斯坦股份公司 | External monitor with integrated reversed regeneration supporter |
| CN108698630A (en) * | 2016-02-10 | 2018-10-23 | 黑拉有限责任两合公司 | The calculating of fail safe for improving servo steering device and function structure system |
| CN109334756A (en) * | 2018-09-19 | 2019-02-15 | 湖南沃森电气科技有限公司 | A kind of power-assisted steering double drive control system and its control method |
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| CN113085998A (en) * | 2021-04-28 | 2021-07-09 | 一汽解放汽车有限公司 | Steering control circuit board for vehicle |
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- 2010-09-28 CN CN2010205452765U patent/CN201901171U/en not_active Expired - Lifetime
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| CN102582677A (en) * | 2011-01-06 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system |
| CN102582677B (en) * | 2011-01-06 | 2014-10-22 | 联创汽车电子有限公司 | Electric power-assisted steering system |
| CN103448790B (en) * | 2012-05-29 | 2016-02-24 | 株式会社万都 | Electric boosting steering system and the method for checking its initial driving |
| CN103448790A (en) * | 2012-05-29 | 2013-12-18 | 株式会社万都 | Electric power steering system and method for checking initial driving thereof |
| CN104283485A (en) * | 2013-07-09 | 2015-01-14 | 比亚迪股份有限公司 | Electric car and motor control system thereof and control method |
| WO2015003619A1 (en) * | 2013-07-09 | 2015-01-15 | Shenzhen Byd Auto R&D Company Limited | Motor control system of electric vehicle and controlling method for motor control system of electric vehicle and electric vehicle |
| US9577569B2 (en) | 2013-07-09 | 2017-02-21 | Byd Company Limited | Motor control system of electric vehicle and controlling method for motor control system of electric vehicle and electric vehicle |
| CN104283485B (en) * | 2013-07-09 | 2017-10-31 | 比亚迪股份有限公司 | Electric automobile and its electric machine control system and control method |
| CN103407486B (en) * | 2013-08-12 | 2016-01-27 | 东方久乐汽车电子（上海）有限公司 | A kind of Electric Power Steering Control System of Automobile |
| CN103407486A (en) * | 2013-08-12 | 2013-11-27 | 东方久乐汽车电子（上海）有限公司 | Automobile electric power assistance steering control system |
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| CN104442444B (en) * | 2013-09-18 | 2017-10-31 | 比亚迪股份有限公司 | The electric machine control system of electric automobile and the electric automobile with it |
| CN104750087A (en) * | 2013-12-25 | 2015-07-01 | 联创汽车电子有限公司 | System and method for diagnosing external clock source |
| CN104750087B (en) * | 2013-12-25 | 2017-10-24 | 联创汽车电子有限公司 | A kind of system and method for diagnosing external clock reference |
| CN105128925A (en) * | 2015-09-08 | 2015-12-09 | 苏州市博得立电源科技有限公司 | Electric power steering control system of automobile |
| CN108137088A (en) * | 2015-10-06 | 2018-06-08 | 罗伯特博世汽车转向有限公司 | For running the method for the steering of motor vehicle |
| CN108604083A (en) * | 2016-02-05 | 2018-09-28 | 蒂森克虏伯普利斯坦股份公司 | External monitor with integrated reversed regeneration supporter |
| CN108604083B (en) * | 2016-02-05 | 2021-11-12 | 蒂森克虏伯普利斯坦股份公司 | External monitor with integrated reverse regeneration support |
| CN108698630A (en) * | 2016-02-10 | 2018-10-23 | 黑拉有限责任两合公司 | The calculating of fail safe for improving servo steering device and function structure system |
| CN107436596A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | The major-minor MCU redundancies monitoring method of electric boosting steering system |
| CN107436596B (en) * | 2016-05-26 | 2020-04-07 | 上海拿森汽车电子有限公司 | Main and auxiliary MCU redundancy monitoring method of electric power steering system |
| CN106452269A (en) * | 2016-12-14 | 2017-02-22 | 合肥德仁智能科技有限公司 | High-reliability alternating-current motor control device applied to electric vehicles |
| CN111032483A (en) * | 2017-08-30 | 2020-04-17 | 蒂森克虏伯普利斯坦股份公司 | Hardware-implemented motor control and platform for EPS |
| CN111032483B (en) * | 2017-08-30 | 2022-07-05 | 蒂森克虏伯普利斯坦股份公司 | Hardware-implemented motor control and platform for EPS |
| US11485408B2 (en) | 2017-08-30 | 2022-11-01 | Thyssenkrupp Presta Ag | Hardware implemented motor control and platform for EPS |
| CN109334756A (en) * | 2018-09-19 | 2019-02-15 | 湖南沃森电气科技有限公司 | A kind of power-assisted steering double drive control system and its control method |
| CN113085998A (en) * | 2021-04-28 | 2021-07-09 | 一汽解放汽车有限公司 | Steering control circuit board for vehicle |
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