WO2024040808A1

WO2024040808A1 - Skateboard chassis steering system, skateboard chassis, and vehicle

Info

Publication number: WO2024040808A1
Application number: PCT/CN2022/139278
Authority: WO
Inventors: 卢兴运; 顾兴; 范风魁; 李鹏
Original assignee: 合众新能源汽车股份有限公司
Priority date: 2022-08-24
Filing date: 2022-12-15
Publication date: 2024-02-29
Also published as: CN115257915A

Abstract

A skateboard chassis steering system, a skateboard chassis, and a vehicle. The skateboard chassis steering system comprises: a steering assist motor (30) having a first winding (31) and a second winding (32); a first steering control subsystem (10), comprising a first processor (11), a first gate drive unit (12), and a first drive axle (13), the first processor (11) driving and controlling the first winding (31) by means of the first gate drive unit (12) and the first drive axle (13); and a second steering control subsystem (20), comprising a second processor (21), a second gate drive unit (22), and a second drive axle (23), the second processor (21) driving and controlling the second winding (32) by means of the second gate drive unit (22) and the second drive axle (23). The first steering control subsystem (10) and the second steering control subsystem (20) are configured such that when one of the first steering control subsystem (10) and the second steering control subsystem (20) fails, the other one continues driving and controlling the steering assist motor (30) to provide steering assistance.

Description

Skateboard chassis steering system, skateboard chassis and vehicle

Cross-references to related applications

This application is based on the application with CN application number 202211030164.

Technical field

The present disclosure relates to the field of vehicle steering technology, and in particular to a skateboard chassis steering system and a vehicle.

Background technique

In the rapidly developing field of smart cars, skateboard chassis technology is one of the research focuses. The skateboard chassis is a lower body that integrates drive, brake, steering, battery and other devices. It can be connected to the upper body through reserved electrical interfaces and body interfaces, and can be separated from the upper body.

In some traditional vehicles, in order to improve steering performance, the vehicle achieves steering assistance through hydraulic means, and a constant volume flow of hydraulic oil is always provided to the steering gear through the hydraulic system during vehicle driving. Since this hydraulic system for providing steering assistance takes up a lot of space and continuously consumes energy during driving, it is difficult to move it into the skateboard chassis.

Contents of the invention

In view of this, embodiments of the present disclosure provide a skateboard chassis steering system and vehicle, which can meet the steering needs of the skateboard chassis and reduce energy consumption.

In one aspect of the present disclosure, a skateboard chassis steering system is provided, including:

A steering assist motor has a first winding and a second winding;

The first steering control subsystem includes a first processor, a first door drive unit and a first drive axle. The first processor controls the first drive axle through the first door drive unit and the first drive axle. Windings for drive and control;

The second steering control subsystem includes a second processor, a second door drive unit and a second drive axle. The second processor controls the second drive axle through the second door drive unit and the second drive axle. Windings for drive and control;

Wherein, the first steering control subsystem and the second steering control subsystem are configured such that when one of the first steering control subsystem and the second steering control subsystem fails, the other one continues to drive. and controlling the steering assist motor to provide steering assist.

In some embodiments, the first processor and the second processor are galvanically separated.

In some embodiments, the first steering control subsystem further includes:

A first power supply unit is electrically connected to the first processor, the first gate drive unit and the first drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal to provide power to the first processing unit. power supply to the controller, the first door drive unit and the first drive axle;

The second steering control subsystem also includes:

A second power supply unit is electrically connected to the second processor, the second gate drive unit and the second drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second processing unit. The second gate drive unit and the second drive axle are powered.

In some embodiments, the first steering control subsystem further includes:

A first system basis chip is electrically connected to the first power supply unit, configured to connect to the first ignition unit, and to perform operation on the output of the first power supply unit according to the ignition signal provided by the first ignition unit. Control to wake up the first steering control subsystem;

The second steering control subsystem also includes:

A second system basis chip is electrically connected to the second power supply unit, configured to connect to the second ignition unit, and to perform the output of the second power supply unit according to the ignition signal provided by the second ignition unit. Control to wake up the second steering control subsystem.

In some embodiments, the skateboard chassis steering system further includes:

a torque sensor, signally connected to the first processor and the second processor, configured to sense the torque of the steering wheel shaft and transmit a torque signal to the first processor and the second processor respectively .

In some embodiments, the first processor and the second processor are each configured to drive and control the steering assist motor to output a power assist torque combined with the torque of the steering wheel shaft according to the torque signal. steering function.

In some embodiments, the skateboard chassis steering system further includes:

a first transceiver, signally connected to the first processor, and configured to be signally connected to a local area network bus network to receive signals from the local area network bus network;

A second transceiver, in signal connection with the second processor, is configured to be in signal connection with the LAN bus network to receive signals from the LAN bus network.

In some embodiments, the first processor and the second processor are each configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the local area network bus network. When, the steering assist motor is driven and controlled according to the instruction to output torque to realize the steering function.

In some embodiments, the skateboard chassis steering system further includes:

A rotor position sensing unit is provided in the power steering motor and is signally connected to the first processor and the second processor, and is configured to sense the rotational position of the rotor in the power steering motor to The rotation angle and angular velocity of the output shaft of the steering assist motor are calculated and fed back to the first processor and the second processor to achieve closed-loop control.

In some embodiments, the rotor position sensing unit includes: a plurality of rotor position sensors.

In some embodiments, the skateboard chassis steering system further includes:

case;

a gear rack, movably disposed in the housing and having a threaded section;

A steering tie rod is partially disposed in the housing and connected to at least one end of the rack;

A first transmission mechanism is provided in the housing;

Wherein, the power steering motor is disposed in the housing, and the output shaft of the power steering motor is drivingly connected to the threaded section through the first transmission mechanism.

In some embodiments, the skateboard chassis steering system further includes:

A second transmission mechanism is provided in the housing;

The steering wheel shaft is partially disposed in the housing and is drivingly connected to the threaded section through the second transmission mechanism;

A torque sensor is provided on the steering wheel shaft and configured to sense torque of the steering wheel shaft.

In some embodiments, the axis of the rack is parallel to the axis of the output shaft of the power steering motor.

In some embodiments, the first transmission mechanism includes:

A ball recirculation nut is connected to the threaded section in a ball screw manner;

A belt is connected between the output shaft of the power steering motor and the ball recirculation nut.

In one aspect of the present disclosure, a skateboard chassis is provided, including: the aforementioned skateboard chassis steering system.

In one aspect of the present disclosure, a vehicle is provided, including: the aforementioned skateboard chassis.

Therefore, according to an embodiment of the present disclosure, a first winding and a second winding are provided in a steering power-assisted motor that provides steering assistance to the steering of the skateboard chassis, and corresponding first steering control subsystems and The second steering control subsystem is equipped with a processor in each steering control subsystem. The processor realizes the drive and control of the corresponding windings in the steering assist motor through the door drive unit and the drive axle, thus realizing the redundancy of the skateboard chassis steering system. remaining backup settings. When one of the first steering control subsystem and the second steering control subsystem fails, the other one can continue to drive and control the steering assist motor to provide steering assist to ensure the continuity and stability of the steering assist effect and ensure the power assist. performance and driving safety.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the description, serve to explain principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

Figure 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure;

2 is a schematic diagram of a partial structure of some embodiments of a skateboard chassis steering system according to the present disclosure.

It should be understood that the dimensions of the various components shown in the drawings are not drawn to actual proportions. In addition, the same or similar reference numbers indicate the same or similar components.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is illustrative only and is in no way intended to limit the disclosure, its application or uses. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangements of parts and steps, compositions of materials, numerical expressions, and numerical values set forth in these examples are to be construed as illustrative only and not as limitations.

"First," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Similar words such as "include" or "include" mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "down", "left", "right", etc. are only used to express relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In this disclosure, when a specific device is described as being between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may not be directly connected to the other device but with an intervening device.

All terms (including technical terms or scientific terms) used in this disclosure have the same meanings as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be construed to have meanings consistent with their meanings in the context of the relevant technology and should not be interpreted in an idealized or highly formalized sense, except as expressly stated herein. Define it this way.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered a part of the specification.

FIG. 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure. Referring to FIG. 1 , an embodiment of the present disclosure provides a skateboard chassis steering system, including: a steering assist motor 30 , a first steering control subsystem 10 and a second steering control subsystem 20 . The steering assist motor 30 can output torque, and provides steering assist through the output torque to facilitate the driver to control the steering wheel more smoothly. The steering assist motor 30 can also control the steering of the skateboard chassis according to instructions to realize automatic driving or remote control driving of the vehicle.

The power steering motor 30 has a first winding 31 and a second winding 32 . When either one of the first winding 31 and the second winding 32 is energized, the torque output of the steering assist motor 30 can be achieved. During actual operation, one of the first winding 31 and the second winding 32 can be selected as the main winding to be energized as needed, and the other one can be used as a backup winding to be activated when the main winding fails. The first winding 31 and the second winding 32 can also be energized at the same time as needed, and when any one of the windings fails, the other non-failed winding can continue to work to ensure continuous output of torque.

The first steering control subsystem 10 and the second steering control subsystem 20 may be respectively provided in two independent control units. For compact structure, the first steering control subsystem 10 and the second steering control subsystem 20 can also be provided in one control unit. In some embodiments, the power steering motor 30 may be combined with the first steering control subsystem 10 and the second steering control subsystem 20 provided in a control unit, and the power steering motor 30 may be connected to the power steering motor through a connection plug provided on the control unit. As well as other sensors and network connections, a more compact structure can be obtained, which is beneficial to the structural layout of the skateboard chassis.

The first steering control subsystem 10 includes a first processor 11 , a first door drive unit 12 and a first drive axle 13 . The first processor 11 can receive information or instructions input from sensors, network buses or drivers, process the information or instructions, and send driving or control instructions to other components connected to its signal to make them follow the instructions. run.

Processors described herein may include general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete implemented or performed using hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, Micro Controller Unit (MCU), or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

The first drive bridge 13 may include a bridge circuit controlled by a first gate drive unit (GDU) 12 for switching. The first door drive unit 12 energizes the first winding 31 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor. The first drive bridge 13 may use a power module with phase separation. The first processor 11 drives and controls the first winding 31 through the first gate driving unit 12 and the first drive bridge 13 .

The second driving bridge 23 may include a bridge circuit whose switches are controlled by the second gate driving unit 22 . The second door drive unit 22 energizes the second winding 32 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor. The second drive bridge 23 may use a power module with phase separation. The second processor 21 drives and controls the second winding 32 through the second gate driving unit 22 and the second driving bridge 23 .

The first steering control subsystem 10 and the second steering control subsystem 20 are configured such that when one of the first steering control subsystem 10 and the second steering control subsystem 20 fails, the other one Continue to drive and control the power steering motor 30 to provide steering power, thereby ensuring that the power steering motor 30 can continuously output torque. In actual use, the first steering control subsystem 10 and the second steering control subsystem 20 can work at the same time, or they can work selectively.

In order to avoid mutual interference between the first steering control subsystem 10 and the second steering control subsystem 20, in some embodiments, the first processor 11 and the second processor 21 are electrically separated. (Galvanic separation).

Referring to FIG. 1 , in some embodiments, the first steering control subsystem 10 further includes: a first power supply unit 14 . The first power supply unit 14 may be electrically connected to the first processor 11 , the first door driving unit 12 and the first drive bridge 13 , and be configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to all The first processor 11, the first door drive unit 12 and the first drive bridge 13 provide power. The second steering control subsystem 20 also includes: a second power supply unit 24 . The second power supply unit 24 is electrically connected to the second processor 21 , the second door driving unit 22 and the second driving bridge 23 , and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second power supply unit 24 . The second processor 21, the second door drive unit 22 and the second drive bridge 23 are powered.

In an embodiment in which the first steering control subsystem 10 and the second steering control subsystem 20 are provided in one control unit, the first power supply unit 14 and the second power supply unit 24 may be integrated into one body and provided in two pieces. Type connecting plugs to connect the power supply terminal and the ground terminal respectively.

In order to effectively wake up each steering control subsystem through the ignition operation, referring to Figure 1, in some embodiments, the first steering control subsystem 10 also includes: a first system basic chip (System Basic Chip, SBC for short) 15. The first system basic chip 15 is electrically connected to the first power supply unit 14 , is configured to connect to the first ignition unit 41 , and configures the first ignition (Ignition) signal according to the ignition signal provided by the first ignition unit 41 . The output of a power supply unit 14 is controlled to wake up the first steering control subsystem 10 . The second steering control subsystem 20 also includes: a second system basis chip 25 . The second system basis chip 25 is electrically connected to the second power supply unit 24 , is configured to connect to the second ignition unit 42 , and activates the second power supply unit according to the ignition signal provided by the second ignition unit 42 The output of 24 is controlled to wake up the second steering control subsystem 20 .

In order to achieve steering assistance when the driver operates the steering wheel, referring to FIG. 1 , in some embodiments, the skateboard chassis steering system further includes: a torque sensor 50 . The torque sensor 50 is signally connected to the first processor 11 and the second processor 21 and is configured to sense the torque of the steering wheel shaft 95 and transmit the torque signal to the first processor 11 and the second processor 21 respectively. Second processor 21. The processor can determine the rotation angle of the steering wheel relative to the zero position and the rotation speed of the steering wheel based on the signal sensed by the torque sensor 50, thereby controlling the current applied to the winding in the corresponding steering assist motor, thereby causing the steering assist motor to output The torque is combined with the torque of the steering wheel shaft to improve the steering process and optimize the vehicle's handling.

Specifically, both the first processor 11 and the second processor 21 may be configured to drive and control the steering assist motor 30 to output a power assist torque combined with the torque of the steering wheel shaft 95 according to the torque signal. to realize the steering function.

In order to meet the needs of intelligent driving (such as L3 or L4), referring to FIG. 1 , in some embodiments, the skateboard chassis steering system also includes: a first transceiver 61 and a second transceiver 62 . The first transceiver 61 is signal-connected to the first processor 11 and is configured to be signal-connected to a LAN bus network (Controller Area Network, CAN for short) 70 so as to receive signals from the LAN bus network 70 . The second transceiver 62 is in signal connection with the second processor 21 and is configured to be in signal connection with the LAN bus network 70 so as to receive signals from the LAN bus network 70 .

The LAN bus network 70 can provide intelligent driving assistance function instructions or intelligent parking function instructions from the remote control or console to the first processor 11 and the second processor via the first transceiver 61 and the second transceiver 62 respectively. twenty one. Correspondingly, both the first processor 11 and the second processor 21 may be configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the LAN bus network 70 . When instructed, the steering assist motor 30 is driven and controlled to output torque according to the instruction to realize the steering function.

When the processor controls the torque output by the steering assist motor, in order to improve the control accuracy, closed-loop control can be used. Referring to FIG. 1 , in some embodiments, the skateboard chassis steering system further includes: a rotor position sensing unit 80 . The rotor position sensing unit 80 is disposed in the power steering motor 30 and is signally connected to the first processor 11 and the second processor 21 , and is configured to sense the position of the rotor in the power steering motor 30 . The rotation position is used to calculate the rotation angle and angular velocity of the output shaft of the steering assist motor 30, and is fed back to the first processor 11 and the second processor 21 to achieve closed-loop control.

In some embodiments, rotor position sensing unit 80 may include a plurality of rotor position sensors. For example, two rotor position sensors are respectively provided for the first winding 31 and the second winding 32 . The two rotor position sensors corresponding to the first winding 31 are connected to the first processor 11 via signals, and the two rotor position sensors corresponding to the second winding 32 are connected to each other via signals. The rotor position sensor is signally connected to the second processor 21 . The rotor position sensor can use a Hall position sensor, etc.

2 is a schematic diagram of a partial structure of some embodiments of a skateboard chassis steering system according to the present disclosure. Referring to FIGS. 1 and 2 , in some embodiments, the skateboard chassis steering system also includes: a housing 90 , a rack 91 , a steering rod 92 and a first transmission mechanism 93 . The rack 91 is movably disposed in the housing 90 and has a threaded section. The steering tie rod 92 is partially disposed in the housing 90 and connected to at least one end of the rack 91 . The first transmission mechanism 93 and the steering assist motor 30 are both arranged in the housing 90 . The output shaft of the steering assist motor 30 is drivingly connected to the threaded section through the first transmission mechanism 93 .

The power steering motor is directly installed and acts on the steering structure, which can effectively reduce space occupation. Moreover, by at least partially accommodating the rack, the steering tie rod, the first transmission mechanism and the steering assist motor, the skateboard chassis steering system can be made more compact, convenient for application, and space-saving.

In some embodiments, the axis of the rack 91 is parallel to the axis of the output shaft of the steering assist motor 30 . This parallel-axis power steering structure has higher transmission efficiency and can provide greater power assistance. In order to reduce the internal friction of the steering gear so that the driver can more freely feel changes in wheel direction and smooth steering, thereby improving steering feel, in some embodiments, the first transmission mechanism 93 includes: a ball recirculating nut and a belt. The ball circulation nut is connected to the threaded section in a ball screw manner. A belt is connected between the output shaft of the power steering motor 30 and the ball recirculation nut.

In this way, the torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into linear movement of the rack through its cooperation with the threaded section on the rack, thereby driving the steering rod to move to achieve the steering function. . At this time, the side impact of the road is filtered out due to the structure of the ball recirculating nut and the inertial mass of the motor, making the impact transmitted back to the driver smaller, thus improving driving comfort and achieving superior acoustic vibration roughness (Noise). ,Vibration and Harshness, referred to as NVH).

Referring to FIG. 2 , in some embodiments, the skateboard chassis steering system further includes: a second transmission mechanism 94 , a steering wheel shaft 95 and a torque sensor 50 . The second transmission mechanism 94 is disposed in the housing 90 and may be in the form of a driving gear capable of meshing with the threaded section of the rack 91 . The steering wheel shaft 95 is partially disposed in the housing 90 and is drivingly connected to the threaded section through the second transmission mechanism 94 . The torque sensor 50 is provided on the steering wheel shaft 95 and is configured to sense the torque of the steering wheel shaft 95 .

Each embodiment of the above-mentioned skateboard chassis steering system can be applied to various types of skateboard chassis. Therefore, embodiments of the present disclosure provide a skateboard chassis, including any of the foregoing embodiments of a skateboard chassis steering system. Since the embodiment of the steering system of the skateboard chassis has better safety, the operation of the skateboard chassis is also safer.

Various embodiments of the above skateboard chassis can be applied to various types of vehicles, such as new energy vehicles. Therefore, embodiments of the present disclosure provide a vehicle, including any of the foregoing embodiments of a skateboard chassis. The vehicle may be a new energy vehicle. Because the skateboard chassis has better safety, the driving and driving of the vehicle are also safer.

With reference to the foregoing embodiment of the skateboard chassis steering system, a specific implementation example of the skateboard chassis steering system is provided below to assist in the explanation.

In the scenario where the driver controls the steering wheel, when the steering wheel is twisted by the driver, the torque sensor can send the torque signal of the steering wheel shaft to the processor in the steering control subsystem currently being used. If the first steering control subsystem and the third steering control subsystem When both steering control subsystems are in use, the torque sensor sends the torque signal of the steering wheel shaft to the first processor and the second processor respectively.

The processor that receives the torque signal can calculate the current steering angle and steering speed of the steering wheel based on the torque signal. The steering angle and steering speed can be used for functions such as straight-line driving correction of the vehicle. According to the operating parameters of the vehicle driven by the driver (which can come from the vehicle's LAN bus network), such as vehicle speed, engine speed, wheel speed, etc., combined with the torque signal of the steering wheel shaft, the information stored in the processor or in the memory accessible to the processor is queried. The characteristic curve is used to determine the steering assist demand value, so that the corresponding current is output to the corresponding winding in the steering assist motor through the door drive unit and the transaxle to drive and control the steering assist motor output torque.

The torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into the linear movement of the rack through its cooperation with the threaded section on the rack, while the torque of the steering wheel shaft passes through the driving gear and rack The cooperation of the threaded segments on the steering wheel is also transformed into the linear motion of the rack. By superimposing the linear motion of the rack, the steering rod moves to realize the steering assist function. The linear movement of the steering rod causes the wheel to swing in the corresponding direction around its steering axis.

In this process, the rotor position sensing unit provided in the power steering motor can sense the rotational position of the rotor in the power steering motor to calculate the rotation angle and angular velocity of the output shaft of the power steering motor, and feed them back to Corresponding processor to achieve closed-loop control.

In the scenario of limited autonomous driving or autonomous driving, the processor in the currently working steering control subsystem can receive instructions for intelligent driving assistance functions or instructions for intelligent parking functions from the LAN bus network through the corresponding transceiver. instructions, and drives and controls the power steering motor to output torque according to the instructions to achieve the steering function.

When there is no input from the steering wheel, the torque output by the steering assist motor can act on the rack alone through the first transmission mechanism to realize the steering function of the vehicle; and when there is input from the steering wheel, the torque output by the steering assist motor can be combined with the steering wheel. The torque input from the shaft is combined to achieve the steering function of the vehicle.

Up to this point, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concepts of the present disclosure, some details that are well known in the art have not been described. Based on the above description, those skilled in the art can completely understand how to implement the technical solution disclosed here.

Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the disclosure is defined by the appended claims.

Claims

A skateboard chassis steering system includes:

A steering assist motor (30) has a first winding (31) and a second winding (32);

The first steering control subsystem (10) includes a first processor (11), a first door drive unit (12) and a first drive axle (13). The first processor (11) passes the first The gate drive unit (12) and the first drive bridge (13) drive and control the first winding (31); and

The second steering control subsystem (20) includes a second processor (21), a second door drive unit (22) and a second drive axle (23). The second processor (21) passes the second The gate drive unit (22) and the second drive bridge (23) drive and control the second winding (32);

Wherein, the first steering control subsystem (10) and the second steering control subsystem (20) are configured to operate between the first steering control subsystem (10) and the second steering control subsystem (20). When one of 20) fails, the other one continues to drive and control the steering assist motor (30) to provide steering assist.
The skateboard chassis steering system according to claim 1, wherein the first processor (11) and the second processor (21) are galvanically separated.
The skateboard chassis steering system according to claim 1 or 2, wherein the first steering control subsystem (10) further includes:

The first power supply unit (14) is electrically connected to the first processor (11), the first door drive unit (12) and the first drive bridge (13), and is configured to be connected to the power supply terminal and the first drive bridge (13). The ground terminal is electrically connected to provide power to the first processor (11), the first door drive unit (12) and the first drive bridge (13);

The second steering control subsystem (20) also includes:

The second power supply unit (24) is electrically connected to the second processor (21), the second door drive unit (22) and the second drive bridge (23), and is configured to be connected to the power supply terminal and the second drive bridge (23). The ground terminal is electrically connected to provide power to the second processor (21), the second door drive unit (22) and the second drive bridge (23).
The skateboard chassis steering system according to claim 3, wherein the first steering control subsystem (10) further includes:

The first system basis chip (15) is electrically connected to the first power supply unit (14), is configured to connect to the first ignition unit (41), and generates ignition according to the ignition provided by the first ignition unit (41). The fire signal controls the output of the first power supply unit (14) to wake up the first steering control subsystem (10);

The second steering control subsystem (20) also includes:

The second system basis chip (25) is electrically connected to the second power supply unit (24), is configured to connect to the second ignition unit (42), and generates ignition according to the ignition provided by the second ignition unit (42). The fire signal controls the output of the second power supply unit (24) to wake up the second steering control subsystem (20).
The skateboard chassis steering system according to any one of claims 1 to 4, further comprising:

A torque sensor (50), signally connected to the first processor (11) and the second processor (21), is configured to sense the torque of the steering wheel shaft (95) and transmit the torque signal to the respective The first processor (11) and the second processor (21).
The skateboard chassis steering system according to claim 5, wherein the first processor (11) and the second processor (21) are each configured to drive and control the steering assist motor according to the torque signal. (30) Output the power assist torque combined with the torque of the steering wheel shaft (95) to achieve the steering function.
The skateboard chassis steering system according to any one of claims 1 to 6, further comprising:

A first transceiver (61) in signal connection with the first processor (11) and configured to be in signal connection with the LAN bus network (70) to receive signals from the LAN bus network (70); and

A second transceiver (62), in signal connection with the second processor (21), is configured to be in signal connection with the LAN bus network (70) so as to receive signals from the LAN bus network (70).
The skateboard chassis steering system according to claim 7, wherein the first processor (11) and the second processor (21) are configured to receive a response from the local area network bus network (70). When the instruction is used for the intelligent driving assistance function or the instruction for the intelligent parking function, the steering assist motor (30) is driven and controlled according to the instruction to output torque to realize the steering function.
The skateboard chassis steering system according to any one of claims 1 to 8, further comprising:

A rotor position sensing unit (80) is provided in the steering assist motor (30) and is signally connected to the first processor (11) and the second processor (21), and is configured to sense The rotational position of the rotor in the steering assist motor (30) is used to calculate the rotation angle and angular velocity of the output shaft of the steering assist motor (30), and is fed back to the first processor (11) and the third processor (11). Two processors (21) to achieve closed-loop control.
The skateboard chassis steering system according to claim 9, wherein the rotor position sensing unit (80) includes: a plurality of rotor position sensors.
The skateboard chassis steering system according to any one of claims 1 to 10, further comprising:

Shell(90);

The rack (91) is movably arranged in the housing (90) and has a threaded section;

A steering tie rod (92) is partially provided in the housing (90) and connected to at least one end of the rack (91);

The first transmission mechanism (93) is provided in the housing (90);

Wherein, the power steering motor (30) is disposed in the housing (90), and the output shaft of the power steering motor (30) is drivingly connected to the threaded section through the first transmission mechanism (93). .
The skateboard chassis steering system according to claim 11, further comprising:

The second transmission mechanism (94) is provided in the housing (90);

The steering wheel shaft (95) is partially provided in the housing (90) and is drivingly connected to the threaded section through the second transmission mechanism (94);

A torque sensor (50) is provided on the steering wheel shaft (95) and is configured to sense torque of the steering wheel shaft (95).
The skateboard chassis steering system according to claim 11 or 12, wherein the axis of the rack (91) is parallel to the axis of the output shaft of the steering assist motor (30).
The skateboard chassis steering system according to any one of claims 11 to 13, wherein the first transmission mechanism (93) includes:

A ball recirculation nut is connected to the threaded section in a ball screw manner;

A belt is connected between the output shaft of the power steering motor (30) and the ball recirculation nut.
A skateboard chassis includes:

The skateboard chassis steering system according to any one of claims 1 to 14.
A vehicle including:

The skateboard chassis according to claim 15.