CN212220364U

CN212220364U - Wire-controlled double-motor coupling steering device

Info

Publication number: CN212220364U
Application number: CN201921695864.4U
Authority: CN
Inventors: 王安; 赵万忠; 陈莉娟; 冯建; 匡登明
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-12-25
Anticipated expiration: 2029-10-11

Abstract

The utility model provides a drive-by-wire bi-motor coupling turns to device, including the acquisition unit, the steering wheel assembly, ECU control module, main supplementary bi-motor execution unit, acquisition unit and ECU control module, the steering wheel assembly and main supplementary bi-motor execution unit are connected respectively, ECU control module and acquisition unit, main supplementary bi-motor execution unit, the steering wheel assembly is connected respectively, main supplementary bi-motor execution unit includes main steering motor controller, main steering motor, the main clutch, assist steering motor controller, assist and turn to the motor, assist the clutch, rack and pinion mechanism, the front wheel, the torque coupling. The utility model discloses on the prerequisite that satisfies vehicle stability, the controller can be by the state of car on-line selection optimum mode that turns to realize the optimal distribution of energy between the motor.

Description

Wire-controlled double-motor coupling steering device

Technical Field

The utility model relates to a steer-by-wire system and turn to energy consumption technical field, specifically a two motor coupling of steer-by-wire turn to device.

Background

Steer-by-wire, as an intelligent electronic control technology, increasingly shows its unique advantages. The steer-by-wire system can realize active steering, and the operation stability of the steering system is obviously improved. The cancellation of mechanical connection improves the stability and the operation stability of the automobile, but the mode of replacing mechanical connection by wire control is adopted, so that fault-tolerant control becomes the key for ensuring the safety of the wire-controlled steering automobile. The steering actuating motor serves as an actuating mechanism of the system and serves as an important component in the steering process, and the state of the steering actuating motor has great influence on the steering of the automobile. In the steering process, a steering motor is a steering power source, and once the motor breaks down, the steering characteristic of the motor is difficult to guarantee, so that great potential safety hazards can be caused. Therefore, in order to prevent the problem that the single-steering actuator motor fails to cause system failure, a dual actuator motor is introduced to the steer-by-wire system.

The redundancy characteristic of the dual-motor system greatly improves the reliability and safety of the system. On one hand, the safety of the steering system is improved through the research of the fault-tolerant strategy of the double motors, and on the other hand, in order to fully exploit the potential of the double motor system, some scholars research the coordination control of the double motors under the normal steering working condition. When the automobile is normally steered, a part of researchers can adopt the traditional single-motor steering and only take the other motor as a backup. Some researchers can adopt a mode that two same motors bear loads together, and the two motors work in the same state as much as possible through corresponding control strategies, so that the load of a single motor is reduced, the service life of the motor is prolonged, and the failure rate of the motor is reduced.

The introduction of redundant motors provides guarantee for fault tolerance of the steering motors, but can cause the steering energy consumption of the vehicle to change. Researchers neglect the problem of energy consumption change caused by introducing redundant motors and the problem of double-motor coordination work caused by energy consumption change when considering the working state of double motors under the normal steering working condition. When one motor works alone, the working point of the motor is completely determined by the external load. Under the condition that the external load is not changed, when the automobile adopts two identical executing motors to steer, the energy consumption working point of a single motor can be changed. However, at the moment, the two motors are in the same state, the working points of the two motors are still determined only by external loads, and the working points of the two motors are directly related to the energy consumption of the motors, so that the structure is difficult to exert the energy-saving potential of the double-motor steering system.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve prior art's problem, provide a drive-by-wire bi-motor coupling and turn to device, on the prerequisite that satisfies vehicle stability, the controller can select the optimal mode that turns to by the state of car on-line to realize the optimal distribution of energy between the motor.

The utility model discloses a collection unit, steering wheel assembly, ECU control module, main and auxiliary bi-motor execution unit.

The acquisition unit is respectively connected with the ECU control module, the steering wheel assembly and the main and auxiliary double-motor execution units. The acquisition unit comprises a steering wheel corner sensor, a steering wheel torque sensor, a main motor torque and rotating speed sensor, an auxiliary motor torque and rotating speed sensor, a vehicle speed sensor and a yaw rate sensor.

The ECU control module is respectively connected with the acquisition unit, the main and auxiliary double-motor execution units and the steering wheel assembly.

The main and auxiliary double-motor execution unit comprises a main motor controller, a main steering motor, a main clutch, an auxiliary steering motor controller, an auxiliary steering motor, an auxiliary clutch, a gear rack mechanism, a front wheel and a torque coupler.

The main steering motor and the main clutch are respectively connected with the main motor controller, the auxiliary steering motor and the auxiliary clutch are respectively connected with the auxiliary steering motor controller, the main steering motor is connected with one input torque end of the torque coupler through the main clutch, the auxiliary steering motor is connected with the other input torque end of the torque coupler through the auxiliary clutch, the output torque end of the torque coupler is connected with the rack-and-pinion mechanism, and the front wheels are arranged on two sides of the rack-and-pinion mechanism.

The main motor torque and rotation speed sensor is arranged on the main steering motor, the auxiliary motor torque and rotation speed sensor is arranged on the auxiliary steering motor, the main motor torque and rotation speed sensor and the auxiliary motor torque and rotation speed sensor are connected with a bus, signals of the main motor controller and the auxiliary steering motor controller are input into the bus, and then are transmitted to the ECU control module through the bus.

The steering wheel assembly comprises a steering wheel, a steering column, a road sensing motor and a road sensing motor controller, wherein the steering wheel is connected with the road sensing motor and a steering wheel corner sensor through the steering column, the steering wheel torque sensor is installed on the steering column, and the road sensing motor controller is connected with the road sensing motor and the steering wheel torque sensor to control the running of the road sensing motor.

In a further improvement, the ECU control module comprises an operation controller and an energy optimization controller, wherein the operation controller comprises an electronic control unit and a stability control unit; the operation controller is connected with the road sensing motor controller and the bus; the operation controller receives signals transmitted by the auxiliary motor torque and rotating speed sensor, the main motor torque and rotating speed sensor and the steering wheel torque sensor and transmits instructions to the Flexray bus, the bus transmits the signals to the energy optimization controller, and the energy optimization controller transmits the optimized results to the main motor controller and the auxiliary steering motor controller through the Flexray bus.

The utility model has the advantages that:

1. the steering device can run in three steering modes to meet different steering working conditions, so that the steering efficiency is improved.

2. On the premise of meeting the vehicle stability, the controller can select an optimal steering mode on line according to the state of the automobile and realize the optimal distribution of energy among the motors. The perfect unification of safety, low energy consumption, integration and real-time performance is realized.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

The utility model discloses the structure is as shown in figure 1, including acquisition unit, steering wheel assembly, ECU control module, main and auxiliary bi-motor execution unit.

The acquisition unit is respectively connected with the ECU control module, the steering wheel assembly and the main and auxiliary double-motor execution units; the acquisition unit comprises a steering wheel angle sensor 4, a steering wheel moment sensor 5, a main motor torque and rotating speed sensor 9, an auxiliary motor torque and rotating speed sensor 12, a vehicle speed sensor 19 and a yaw rate sensor, wherein the sensors are used for acquiring the state of the vehicle; and the collected signals or instructions are respectively transferred to an ECU control module, a steering wheel assembly and a main and auxiliary double-motor execution unit, specifically: the acquisition unit transmits a vehicle speed signal, a steering wheel corner signal, a corner signal of a steering motor obtained by a rotating speed sensor, a torque signal of the steering motor obtained by a torque sensor, a yaw velocity signal of the vehicle obtained by a yaw velocity sensor, a corner signal of a steering front wheel and the like to the electronic control unit in real time in the driving process of the vehicle; and sending signals such as difference signals of the ideal yaw velocity and the actual yaw velocity obtained by the electronic control unit, road surface interference side wind interference and the like to the stability control unit.

The ECU control module is respectively connected with the acquisition unit, the main and auxiliary double-motor execution units and the steering wheel assembly and mainly comprises an operation controller 7 and an energy optimization controller 20. The arithmetic controller 7 includes an electronic control unit and a stability control unit.

The ECU control module receives signals from the acquisition unit, and transmits corresponding instructions to the energy optimization controller after calculation; specifically, the electronic control unit calculates an ideal yaw rate signal according to a steering wheel angle signal and a vehicle speed signal transmitted by the acquisition unit, calculates an ideal yaw rate difference value required to be adjusted according to the ideal yaw rate signal and an actual yaw rate signal, and transmits the yaw rate difference value to the stability control unit; the stability control unit comprehensively considers the influences of road surface interference, side wind, system friction and the like on the stability of the automobile according to the difference value of the yaw angular velocity transmitted by the electronic control unit, and obtains the total required torque and the required rotating speed of the double-execution motor and transmits the total required torque and the required rotating speed to the energy optimization controller 20 on the premise of ensuring the stability of the automobile from the robustness of the system; the energy optimization controller 20 receives the electric signal transmitted by the stability control unit, obtains the current best torque distribution ratio of the main and auxiliary motors according to the energy optimization strategy of the energy optimization controller 20, controls the input torque of the main steering motor 10 and the action of the clutch 11 through the motor controller 8, and controls the input torque of the auxiliary steering motor 13 and the action of the auxiliary clutch 14 through the motor controller 16.

The steering wheel assembly comprises a steering wheel 1, a steering column 2, a road sensing motor 3 and a road sensing motor controller 6, wherein the steering wheel 1 is connected with the road sensing motor 3 and a steering wheel corner sensor 4 thereof through the steering column 2, a steering wheel torque sensor 5 is arranged on the steering column 2, and the road sensing motor controller 6 is connected with the road sensing motor 3 and the steering wheel torque sensor 5 and controls the running of the road sensing motor 3.

The main and auxiliary double-motor execution unit comprises a main motor controller 8, a main steering motor 10, a main clutch 11, an auxiliary steering motor controller 16, an auxiliary steering motor 13, an auxiliary clutch 14, a torque coupler 18, a gear and rack mechanism 15 and a front wheel 17 which are connected in sequence; the main steering motor 10 is connected with an input end 1 of a torque coupler 18 through a main clutch 11, the auxiliary steering motor 13 is connected with an input end 2 of the torque coupler 18 through an auxiliary clutch 14, an output end of the torque coupler 18 is connected with a rack and pinion steering gear 15, front wheels 17 are installed on two sides of the rack and pinion steering gear 15, a main motor torque and rotating speed sensor 9 is installed on a main steering motor 8, and an auxiliary motor torque and rotating speed sensor 12 is installed on the auxiliary steering motor 13.

The main motor torque and rotating speed sensor 9 and the auxiliary motor torque and rotating speed sensor 12 are connected to a Flexray bus, signals of the main motor controller 8 and the auxiliary steering motor controller 16 are input into the bus, and then are transmitted to the stability control unit through the bus; the main steering motor 10 and the main clutch 11 thereof are connected with the main motor controller 8, the main motor controller 8 controls the input torque of the main steering motor 10 and the operation of the main clutch 11, the torque motor 13 and the auxiliary clutch 14 are connected with the auxiliary steering motor controller 16, and the auxiliary steering motor controller 16 controls the input torque of the auxiliary steering motor 13 and the operation of the auxiliary clutch 14; the output end of the stability controller is connected with a Flexray bus; the input end of the energy optimization controller 18 is connected with a Flexray bus; the energy optimization controller 18 receives the required torque and the required rotating speed obtained by the stability controller transmitted by the Flexray bus, selects an optimal energy distribution strategy on line through the energy optimization strategy, and is connected to the main motor controller 8 and the auxiliary steering motor controller 16 through the Flexray bus. When the energy optimization controller 18 selects the main steering motor to drive alone, the main motor controller 8 will make the main steering motor 10 reach the corresponding required torque by controlling the input current and keep the main clutch 11 closed, and the auxiliary steering motor controller 8 will open the auxiliary clutch 14, thereby interrupting the power transmission. When the energy optimization controller 18 selects the auxiliary steering motor to drive alone, the auxiliary steering motor controller 16 will now bring the auxiliary steering motor 13 to the required torque by controlling the input current and keep the auxiliary clutch 14 closed, while the main motor controller 8 will disconnect the main clutch 11, thereby interrupting the power transmission. When the energy optimization controller 18 selects the main and auxiliary steering motors to drive together, the main motor controller 8 will control the input current to make the main steering motor 10 achieve the corresponding distributed torque and keep the main clutch 11 closed, while the controller 16 will control the input current to make the auxiliary steering motor 13 achieve the corresponding distributed torque and keep the auxiliary clutch 14 closed.

The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.

Claims

1. The utility model provides a two motor coupling of drive-by-wire turn to device which characterized in that: the device comprises a collecting unit, a steering wheel assembly, an ECU control module and a main and auxiliary double-motor execution unit;

the acquisition unit is respectively connected with the ECU control module, the steering wheel assembly and the main and auxiliary double-motor execution units; the acquisition unit comprises a steering wheel angle sensor (4), a steering wheel moment sensor (5), a main motor torque and rotating speed sensor (9), an auxiliary motor torque and rotating speed sensor (12), a vehicle speed sensor (19) and a yaw rate sensor;

the ECU control module is respectively connected with the acquisition unit, the main and auxiliary double-motor execution units and the steering wheel assembly;

the main and auxiliary double-motor execution unit comprises a main motor controller (8), a main steering motor (10), a main clutch (11), an auxiliary steering motor controller (16), an auxiliary steering motor (13), an auxiliary clutch (14), a gear and rack mechanism (15), a front wheel (17) and a torque coupler (18);

the main steering motor (10) and the main clutch (11) are respectively connected with the main motor controller (8), the auxiliary steering motor (13) and the auxiliary clutch (14) are respectively connected with the auxiliary steering motor controller (16), the main steering motor (10) is connected with one input torque end of the torque coupler (18) through the main clutch (11), the auxiliary steering motor (13) is connected with the other input torque end of the torque coupler (18) through the auxiliary clutch (14), the output torque end of the torque coupler (18) is connected with the rack-and-pinion mechanism (15), and the front wheels (17) are installed on two sides of the rack-and-pinion mechanism (15);

the main motor torque and rotating speed sensor (9) is installed on a main steering motor (10), the auxiliary motor torque and rotating speed sensor (12) is installed on an auxiliary steering motor (13), the main motor torque and rotating speed sensor (9) and the auxiliary motor torque and rotating speed sensor (12) are connected with a bus, signals of a main motor controller (8) and an auxiliary steering motor controller (16) are input into the bus, and then are transmitted into an ECU control module through the bus.

2. The two-motor-coupled-by-wire steering device according to claim 1, characterized in that: the steering wheel assembly comprises a steering wheel (1), a steering column (2), a road sensing motor (3) and a road sensing motor controller (6), wherein the steering wheel (1) is connected with the road sensing motor (3) and a steering wheel corner sensor (4) through the steering column (2), the steering wheel torque sensor (5) is installed on the steering column (2), and the road sensing motor controller (6) is connected with the road sensing motor (3) and the steering wheel torque sensor (5) to control the running of the road sensing motor (3).

3. The two-motor-coupled-by-wire steering device according to claim 1, characterized in that: the ECU control module comprises an operation controller (7) and an energy optimization controller (20), wherein the operation controller (7) comprises an electronic control unit and a stability control unit; the operation controller (7) is connected with the road sensing motor controller (6) and the bus; the operation controller (7) receives signals transmitted by the auxiliary motor torque and rotating speed sensor (12), the main motor torque and rotating speed sensor (9) and the steering wheel torque sensor (5) and transmits instructions to the bus, the bus transmits the signals to the energy optimization controller (20), and the energy optimization controller (20) transmits the optimized results to the main motor controller (8) and the auxiliary steering motor controller (16) through the bus.