CN109808764A - A kind of steer by wire apparatus having redundancy feature and control method - Google Patents
A kind of steer by wire apparatus having redundancy feature and control method Download PDFInfo
- Publication number
- CN109808764A CN109808764A CN201910151723.4A CN201910151723A CN109808764A CN 109808764 A CN109808764 A CN 109808764A CN 201910151723 A CN201910151723 A CN 201910151723A CN 109808764 A CN109808764 A CN 109808764A
- Authority
- CN
- China
- Prior art keywords
- steering
- steering motor
- road feel
- controller
- wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004088 simulation Methods 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 16
- 241000237858 Gastropoda Species 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 7
- 238000013016 damping Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of steer by wire apparatus for having redundancy feature and control method, the steer by wire apparatus for having redundancy feature includes road feel simulation executing, turns to actuator and steering-by-wire control module；The steering actuator includes first gear rackwork, the first rack stroke sensor, the first steering motor controller, the first steering motor, the first steering motor rotor-position sensor, second gear rackwork, the second rack stroke sensor, the second steering motor controller, the second steering motor, the second steering motor rotor-position sensor and turning machine.The present invention is by the first steering motor of redundancy and the first steering motor controller and the second steering motor and the second steering motor controller, and when ensure that failure occurs, wire-controlled steering system still can be with normal direction of rotation, occupant safety in service truck.
Description
Technical field
The present invention relates to advanced wheel steering system and its control technology field, and in particular to a kind of to have redundancy feature
Steer by wire apparatus and control method.
Background technique
With the continuous development of automotive engineering, automobile steering system has been subjected to mechanical steering, hydraulic power-assisted steering, electro-hydraulic
Steering and electric power steering four-stage, and with the deep development of automotive electronic technology, a kind of novel steering system need
It asks and has received widespread attention, is i.e. steering-by-wire.
Wire-controlled steering system eliminates the mechanical connection between steering wheel and deflecting roller, is realized turn to by electric energy completely, pendulum
Taken off the various limitations of conventional steering system, not only can the force transfering characteristic that turns to of free design vehicle, and can design
The angle transmission characteristic of motor turning brings immensity to the design of motor turning characteristic, is the great of automobile steering system
Innovation.
In recent years, vehicle intellectualized also constantly to promote, and wire-controlled steering system is then the indispensable dress of intelligent driving automobile
It sets, it can not only respond the steering order from bus, can also hide steering wheel, to provide abundance for automatic driving vehicle
Cabin space, improve the comfort of passenger.Therefore, steering-by-wire will become the 5th of steering system developing history
Stage.
Currently, in known technology, patent " a kind of Power-driven automobile steering-by-wire system and its control method "
(CN103587576A) wire-controlled steering system disclosed in, including wire-controlled steering system controller, steering wheel force feedback module and preceding
Steering module three parts are taken turns, control method mainly includes initialization, signal acquisition, steering wheel force-feedback control, front-wheel steer control
System.Steering-by-wire system disclosed in patent " control method of wire-controlled steering system and wire-controlled steering system " (CN107848569A)
System, main open purpose are to make wire-controlled steering system steadily work when enabling ignition switch to be on-state.Patent
Wire-controlled steering system disclosed in " redundancy and tolerant system and control method of a kind of automobile steering-by-wire " (CN101549707A),
Mainly describe the redundant measure and redundancy control method of system soft and hardware.Patent " a kind of full decoupling wire-controlled steering system "
(CN107672669A) wire-controlled steering system disclosed in is mainly described wire-controlled steering system mechanical structure composition.
The patent announced is not introduced the redundant safety measure in wire-controlled steering system structure and control, especially ought be
When system is for intelligent driving technology, not can guarantee the vehicle when critical component failure can still provide for normal direction of rotation, thus service truck
The safety of interior occupant.
Summary of the invention
It is an object of the present invention to provide a kind of steer by wire apparatus for having redundancy feature and control methods, in critical component
Vehicle can still provide for normal direction of rotation when failure, effectively ensure the safety of passenger.
The present invention solves technical problem and adopts the following technical scheme that a kind of steer by wire apparatus for having redundancy feature,
Including road feel simulation executing, turn to actuator and steering-by-wire control module；
The road feel simulation executing includes steering wheel, turns to input shaft, torque sensor, the first rotary angle transmitter, snail
Worm and gear mechanism, the second rotary angle transmitter, road feel motor, road feel motor rotor position sensor and road feel electric machine controller；
Steering wheel and steering input axis connection, turn to and are equipped with torque sensor and first between input shaft and worm and gear
Rotary angle transmitter；
Road feel motor is by worm gear mechanism and turns to input axis connection；
Worm gear mechanism end is also equipped with rotary angle transmitter；
Road feel electric machine controller is connected to road feel motor；Road feel rotor end is equipped with road feel motor rotor position biography
Sensor；
The steering actuator includes first gear rackwork, the first rack stroke sensor, the first steering motor control
Device processed, the first steering motor, the first steering motor rotor-position sensor, second gear rackwork, the second rack stroke pass
Sensor, the second steering motor controller, the second steering motor, the second steering motor rotor-position sensor and turning machine；
First steering motor is connected by first gear rackwork with turning machine, and second steering motor
It is connected by second gear rackwork with turning machine, the first gear rackwork and the coaxial cloth of second gear rackwork
It sets；
The first gear rackwork is internally integrated the first rack stroke sensor, in the second gear rackwork
Portion integrates the second rack stroke sensor；
The first steering motor controller is connect with the first steering motor, the second steering motor controller with it is described
The connection of second steering motor；
The road feel electric machine controller, the first steering motor controller and the second steering motor controller with the line traffic control
The connection of course changing control module.
Optionally, the steering-by-wire control module includes steering-by-wire controller, acceleration transducer, yaw velocity
Sensor and vehicle speed sensor；
Acceleration transducer, yaw-rate sensor and vehicle speed sensor are all connected to the steering-by-wire controller；
And the road feel electric machine controller, the first steering motor controller and the second steering motor controller are controlled with steering-by-wire
Device connection.
Optionally, the steering-by-wire controller is connected to the first CAN bus and the second CAN bus；Also, the road feel
Electric machine controller, the first steering motor controller and the second steering motor controller are all connected to the first CAN bus and the 2nd CAN
Bus.
The invention has the following beneficial effects: the present invention to be controlled by the first steering motor of redundancy and the first steering motor
Device and the second steering motor and the second steering motor controller, when ensure that failure occurs, wire-controlled steering system still can be just
It often turns to, occupant safety in service truck.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the steer by wire apparatus for having redundancy feature of the invention；
Fig. 2 is CAN network topological diagram of the invention；
Fig. 3 is the flow chart for having the control method of steer by wire apparatus of redundancy feature；
Fig. 4 is that road feel simulates control flow chart；
Fig. 5 is front wheel angle control flow chart.
Specific embodiment
Technical solution of the present invention is further elaborated below with reference to examples and drawings.
Embodiment 1
A kind of steer by wire apparatus for having redundancy feature is present embodiments provided, structure is referring to Fig. 1, including road feel mould
Quasi- actuator turns to actuator and steering-by-wire control module.
Wherein, road feel simulation executing 25 includes steering wheel 1, turns to input shaft 2, torque sensor 3, the first rotation angular sensing
Device 4, worm gear mechanism 5, the second rotary angle transmitter 6, road feel motor 7, road feel motor rotor position sensor 8 and road feel motor
Controller 9.
Steering wheel 1 is connect with input shaft 2 is turned to, and to obtain driver's driving intention, turns to input shaft 2 and worm and gear
Torque sensor 3 and the first rotary angle transmitter 4 are installed, to detect the hand-power of driver and the corner of steering wheel between 5.
Road feel motor 7 is connect by worm gear mechanism 5 with input shaft 2 is turned to, to carry out road feel feedback moment simulation；
5 end of worm gear mechanism is also equipped with rotary angle transmitter 6, is used as outer corner measurement redundancy backup.
Road feel motor 7 and road feel electric machine controller 9 can integrated form install, also detachable is arranged, road feel electric machine controller 9
It is connected to road feel motor 7 and steering-by-wire controller 10, for receiving the torque command of steering-by-wire controller 10, controls road feel
Motor 7 exports steering resistence；7 Rotor terminal of road feel motor is equipped with road feel motor rotor position sensor 8, real-time measurement road feel
Motor rotor position.
The steering actuator 26 includes first gear rackwork 14, the steering of the first rack stroke sensor 15, first
Electric machine controller 16, the first steering motor 17, the first steering motor rotor-position sensor 18, second gear rackwork 19,
Second rack stroke sensor 20, the second steering motor controller 21, the second steering motor 22, the second steering motor rotor-position
Sensor 23 and turning machine 24.
First steering motor 17 is connected by first gear rackwork 14 with turning machine 24, and described second turn
Also it is connected with turning machine 24 to motor 22 by second gear rackwork 19, the first gear rackwork 14 and the second tooth
It is coaxially arranged to take turns rackwork 19.
The first gear rackwork 14 is internally integrated the first rack stroke sensor 15, the second gear rack machine
Structure 19 is internally integrated the second rack stroke sensor 20；
First steering motor 17 and the first steering motor controller 16, the second steering motor 22 and the second steering motor control
Device 21 can integrated form installation, also detachable arrange；First steering motor controller 16 is connected to first steering motor 17
With steering-by-wire controller 10, the second steering motor controller 21 is connected to the second steering motor 22 and steering-by-wire control
Device 10, and the first steering motor controller 16 and the second steering motor controller 21 is made to receive steering-by-wire control simultaneously
10 steering order of device controls the first steering motor 17 and the second steering motor 22 respectively, becomes to making vehicle front-wheel steer.
The steering-by-wire control module 27 includes steering-by-wire controller 10, acceleration transducer 11, yaw velocity
Sensor 12 and vehicle speed sensor 13；
Acceleration transducer 11 is for measuring vehicle side acceleration, and yaw-rate sensor 12 is for measuring vehicle cross
Pivot angle speed, vehicle speed sensor 13 is for measuring vehicle speed；The steering-by-wire controller 10 according to vehicle side acceleration,
Vehicle yaw velocity and vehicle speed control road feel motor 7 by road feel electric machine controller 9 and rotate, and realize road feel simulation；And
And it is turned to by the first steering motor controller 16 and the first steering motor of the second steering motor controller 21 control 17 and second
Motor 21 realizes the control of front-wheel active steering.
In the present embodiment, the first rotary angle transmitter, the second rotary angle transmitter and/or road feel motor rotor position can be passed through
Three kinds of modes of sensor measure the real-time corner value of steering wheel, and when one of measurement method failure, cause measured value wrong
, can be by the ruling mechanism that the minority is subordinate to the majority when accidentally or measured value is invalid, comprehensive output one is correctly oriented disk corner value.
The first rack stroke sensor, the second rack stroke sensor and/or the first steering motor rotor position can be passed through
The real-time corner value that three kinds of modes of sensor measure vehicle front is set, and when one of measurement method failure, causes to measure
, can be by the ruling mechanism that the minority is subordinate to the majority when value mistake or invalid measured value, one correct front wheel angle of comprehensive output
Value.
First steering motor and the first steering motor controller, the second steering motor and the second steering motor controller, two
Person works at the same time, and is mutually redundant, when one of steering motor or its controller failure cause steering motor cisco unity malfunction
When, another steering motor remains to work normally, to guarantee that automobile can carry out normal direction of rotation under the driving of effective motor.
The torque sensor 3 uses the CIPOS non-contact torque sensor of Hai La company；First rotation angular sensing
Device 4, the second rotary angle transmitter 6 use the contactless rotary angle transmitter of CIPOS of Hai La company；The vehicle speed sensor 9 uses
The 1H0927807D type wheel speed sensors of SKTOO company；The motor rotor position sensor is using Austrian Microtronic A/S
AS5147 linear hall sensor；The acceleration transducer uses the digital 3-axis acceleration sensor BMA250 of BOSCH.
It is highly preferred that the steering-by-wire controller is connected to the first CAN bus and the second CAN bus；Also, the road
Electrification machine controller, the first steering motor controller and the second steering motor controller are all connected to the first CAN bus and second
CAN bus, to realize CAN communication redundancy feature, at this point, passing through the first CAN by steering-by-wire controller under normal operation
Bus sends road feel dummy instruction and gives road feel electric machine controller, then sends front wheel angle by the second CAN bus and instruct to first
Steering motor controller and the second steering motor controller carry out front-wheel steer control；When the second CAN bus breaks down,
To the first steering motor controller front-wheel steer instruction can occur for steering-by-wire controller by the first CAN bus, control automobile
It turns to.Road feel electric machine controller also acts as the effect that redundancy backup is carried out to steering-by-wire controller in a network, when line traffic control turns
When failing to controller, road feel electric machine controller can send to turn to by the first CAN bus to the first steering motor controller to be referred to
It enables, vehicle still has normal direction of rotation function.
The invention has the following advantages over the prior art:
1, save space: the mechanical connection due to eliminating steering wheel and diverter, steering wheel can be hidden or cancel, therefore
It can provide sufficient cabin space, improve riding quality.
2, energy saving: due to eliminating mechanical steering column, vehicle can be about 5 kilograms of loss of weight, can improve the fuel-economy type of vehicle,
Save the energy.
3, comfort improves: can carry out steering feel, Steering sensitivity, ease of steering style according to different drivers and set
It is fixed, it is brought for driver and comfortably drives impression.
4, performance boost: the factors such as variable gear ratio, the control of direct front-wheel make control stability, the yaw response of vehicle
Deng there is great improvement.
5, safety: crucial execution unit, sensor, communication network etc. are provided with redundant measure, when ensure that failure occurs,
Wire-controlled steering system still can be with normal direction of rotation, occupant safety in service truck.
Embodiment 2
With reference to Fig. 3, a kind of control method of steer by wire apparatus for having redundancy feature is present embodiments provided, for controlling
System has the steer by wire apparatus of redundancy feature as described in Example 1, and includes:
S10, pass through acquisition speed, steering wheel angle, direction disk rotating speed, vehicle yaw acceleration, vehicle lateral acceleration
Etc. information, pick out the steering behavior of driver；
S20, the identification that behavior is turned to by driver, estimate steering resistence when vehicle driving, complete to current line
Sail the estimation of the road feel information of operating condition.The flow chart of road feel simulation control (estimation of road feel information) is as shown in figure 4, include turning to
Load observation, virtual Power assisted control, corner locating control and comprehensive four parts of road feel torque.
1) steering load is observed, and is calculated for steering resistence, including lateral force aligning torque and gravity aligning torque.
Lateral force aligning torque calculation formula are as follows:
In formula, Ta_lFor lateral force aligning torque, m is complete vehicle quality, and b is mass center to the distance of rear axle, and L is wheelbase, ayFor
Side acceleration, ξ are front wheel angle.
Gravity aligning torque calculation formula are as follows:
In formula, Ta_wFor gravity aligning torque, KawPositive coefficient, ξ are returned for gravityswFor steering wheel angle, i is to turn to transmission
Than.
2) virtual Power assisted control is that electric power steering inputs the power of steering system, is simulated in traditional electric power steering
When work, driver operates the obtained power-assisted of steering wheel, mainly mends comprising basic Power assisted control, active rotary transform tensor, friction
It repays and damping compensation.
Basic Power assisted control is the steering force applied according to driver to steering wheel and current speed, and tabling look-up obtains and work as
Preceding operating condition gives the driver power steering T of offerast；
Active rotary transform tensor is to carry out position by wire-controlled steering system when driver needs steering wheel return to middle position
Control, control steering wheel return just, use PID closed-loop control in this patent, control method is as follows:
In formula, TrtcFor aligning torque, θtIt is back positive goal corner, θsFor currently practical corner, Kp、Ki、KdRespectively PID
Control parameter, since the target of rotary transform tensor is steering wheel return to middle position, so θt=0, therefore above formula can be expressed as:
Friciton compensation is compensated to mechanical friction existing for steering system, is rung with increasing the dynamic of steering system
It answers, its calculation formula is:
Tf=Kf·sgn(ωm)
In formula, TfFor friciton compensation torque, KfFor friciton compensation coefficient, sgn (ωm) it is road feel direction of motor rotation.
Damping compensation is compensated to steering system damping, to increase the dynamic response of system, its calculation formula is:
Td=Kd·sgn(Tm)abs(ωm)
In formula, TdFor damping compensation torque, sgn (Tm) it is steering wheel torque direction, ωmFor road feel motor speed.
3) corner locating controls, due to not being mechanically connected between the steering wheel and diverter of wire-controlled steering system,
Steering wheel can carry out unconfined rotation in the case where driver operates, and in order to simulate real vehicle operation operating condition, need at certain angle
Steering wheel is prevented to continue to rotate on degree, as corner locating controls, calculation method are as follows:
Tdp=Kdpθs
In formula, TdpFor spacing torque, KdpFor restriction coefficient, θsFor steering wheel angle.
4) road feel torque comprehensively control is to obtain steering resisting moment that steering load is observed, virtual Power assisted control
The torque that power-assisted square and corner locating control carries out COMPREHENSIVE CALCULATING, target implementation capacity needed for obtaining road feel simulated machine
Square.
S30, the driving status by identifying driver's steering behavior and vehicle, calculate the ideal of current steering situation
Steering gear ratio, and by the transmission ratio of variation, it calculates under current steering wheel angle input, is rotated required for vehicle front-wheel
Angle；
Variable gear ratio control is flexibly to be changed steering system gear ratio value based on ideal yaw velocity gain, made vapour
Vehicle obtains approximate steering response when different speeds turn to, and promotes steering flexibility and high speed row when automobile is run at a low speed
Control stability when sailing.Variable gear ratio control is mainly comprising basic transmission than calculating and transmission ratio incremental computations.Basis passes
It is dynamic to be calculated than calculating according to the stable state side acceleration of current vehicle, the calculation formula of stable state side acceleration are as follows:
In formula, ayFor side acceleration, u is speed, and L is wheelbase, and K is degree of understeer, δswFor steering wheel angle, i is
Transmission ratio.
Basic transmission can be shifted out by above formula and compare calculation formula are as follows:
Transmission ratio incremental computations are then to carry out closed loop to ideal yaw velocity to follow to obtain, the meter of ideal yaw velocity
Calculate formula are as follows:
In formula, Yaw is ideal yaw velocity, and u is speed, and L is wheelbase, and K is degree of understeer, δswFor steering wheel angle
Degree.
Closed loop is followed using pid control algorithm, therefore transmission ratio incremental computations formula are as follows:
In formula, iincFor increment transmission ratio, Kp、Ki、KdRespectively pid control parameter, Yaw are ideal yaw velocity, yaw
For practical yaw velocity.
By basic transmission than being added the front wheel drive ratio that current driving operating condition can be obtained and compare adaptation with transmission ratio increment,
The front wheel angle value of needs can be calculated by current steering wheel angle:
In formula, δfwFor front wheel angle target value, δswFor current steering wheel angle, ibasFor basic transmission ratio, iincFor increment
Transmission ratio.
S40, position-force control is carried out to vehicle front wheel angle, obtains steering motor required input torque command；
Front-wheel steer control, including closed-loop control is carried out to front wheel angle, so that wheel follows recent movement；It further relates to
To bi-motor coordinated control, bi-motor operation is synchronized, is not interfered each other.Front-wheel steer control flow block diagram as shown in figure 5, its
Rate-determining steps are as follows:
1) ideal steering ratio obtained in corner input and variable gear ratio control of the driver to steering wheel is combined, is calculated
Best front wheel angle demand needed for current vehicle driving cycle out；
2) front wheel angle requirements obtained in step 1 are subjected to differential, obtain revolving speed feedforward amount；
3) physical location of front wheel angle obtained in step 1 and front-wheel is subjected to closed-loop control, obtains speed feedback amount；
4) revolving speed feedforward amount obtained in step 2 is subjected to differential, obtains torque feedforward amount；
5) speed feedback amount obtained in revolving speed feedforward amount obtained in step 2 and step 3 is summed, obtains revolving speed target
Value, and revolving speed target value and current front wheel rotation speed are subjected to closed-loop control, obtain torque-feedback amount；
6) the torque feedforward amount that step 4 obtains and the torque-feedback amount that step 5 obtains are summed, obtains steering moment target
Value, and torque target value is distributed into two steering actuating motors.
S50, it is exported the torque distributed as target value, the first steering motor of driving and the second steering motor accordingly
Torque, target rotational angle needed for making vehicle front-wheel follow step 4.
The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. a kind of steer by wire apparatus for having redundancy feature, which is characterized in that including road feel simulation executing, turn to actuator
With steering-by-wire control module；
The road feel simulation executing includes steering wheel, turns to input shaft, torque sensor, the first rotary angle transmitter, worm gear snail
Linkage, the second rotary angle transmitter, road feel motor, road feel motor rotor position sensor and road feel electric machine controller；
Steering wheel and steering input axis connection, turn to and are equipped with torque sensor and the first corner between input shaft and worm and gear
Sensor；
Road feel motor is by worm gear mechanism and turns to input axis connection；
Worm gear mechanism end is also equipped with rotary angle transmitter；
Road feel electric machine controller is connected to road feel motor；Road feel rotor end is equipped with road feel motor rotor position sensing
Device；
The steering actuator include first gear rackwork, the first rack stroke sensor, the first steering motor controller,
First steering motor, the first steering motor rotor-position sensor, second gear rackwork, the second rack stroke sensor,
Second steering motor controller, the second steering motor, the second steering motor rotor-position sensor and turning machine；
First steering motor is connected by first gear rackwork with turning machine, and second steering motor passes through
Second gear rackwork is connected with turning machine, and the first gear rackwork and second gear rackwork are coaxially arranged；
The first gear rackwork is internally integrated the first rack stroke sensor, collection inside the second gear rackwork
At the second rack stroke sensor；
The first steering motor controller is connect with the first steering motor, the second steering motor controller and described second
Steering motor connection；
The road feel electric machine controller, the first steering motor controller and the second steering motor controller with the steering-by-wire
Control module connection.
2. the steer by wire apparatus according to claim 1 for having redundancy feature, which is characterized in that the steering-by-wire control
Molding block includes steering-by-wire controller, acceleration transducer, yaw-rate sensor and vehicle speed sensor；
Acceleration transducer, yaw-rate sensor and vehicle speed sensor are all connected to the steering-by-wire controller；And
The road feel electric machine controller, the first steering motor controller and the second steering motor controller connect with steering-by-wire controller
It connects.
3. the steer by wire apparatus according to claim 2 for having redundancy feature, which is characterized in that the steering-by-wire control
Device processed is connected to the first CAN bus and the second CAN bus；Also, the road feel electric machine controller, the first steering motor controller
The first CAN bus and the second CAN bus are all connected to the second steering motor controller.
4. a kind of control method for the steer by wire apparatus for having redundancy feature characterized by comprising
S10, pass through acquisition speed, steering wheel angle, direction disk rotating speed, vehicle yaw acceleration and vehicle lateral acceleration, distinguish
Know the steering behavior of driver out；
S20, the identification that behavior is turned to by driver, estimate steering resistence when vehicle driving, complete to current driving work
The estimation of the road feel information of condition；
S30, the driving status by identifying driver's steering behavior and vehicle calculate the ideal of current steering situation and turn to
Transmission ratio, and by the transmission ratio of variation, it calculates under current steering wheel angle input, the angle rotated required for vehicle front-wheel
Degree；
S40, position-force control is carried out to vehicle front wheel angle, obtains steering motor required input torque command；
S50, corresponding power is exported using the torque distributed as target value, the first steering motor of driving and the second steering motor
Square makes vehicle front-wheel follow required target rotational angle.
5. control method according to claim 4, which is characterized in that wherein, the estimation of the road feel information includes turning to
Load observation, virtual Power assisted control, corner locating control and road feel torque are comprehensive.
6. control method according to claim 5, which is characterized in that S40 includes:
1) ideal steering ratio obtained in corner input and variable gear ratio control of the driver to steering wheel is combined, calculates and works as
Best front wheel angle demand needed for vehicle in front driving cycle；
2) front wheel angle requirements obtained in step 1 are subjected to differential, obtain revolving speed feedforward amount；
3) physical location of front wheel angle obtained in step 1 and front-wheel is subjected to closed-loop control, obtains speed feedback amount；
4) revolving speed feedforward amount obtained in step 2 is subjected to differential, obtains torque feedforward amount；
5) speed feedback amount obtained in revolving speed feedforward amount obtained in step 2 and step 3 is summed, obtains revolving speed target value,
And revolving speed target value and current front wheel rotation speed are subjected to closed-loop control, obtain torque-feedback amount；
6) the torque feedforward amount that step 4 obtains and the torque-feedback amount that step 5 obtains are summed, obtain steering moment target value,
And torque target value is distributed into two steering actuating motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151723.4A CN109808764B (en) | 2019-02-28 | 2019-02-28 | Wire control steering device with redundancy function and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151723.4A CN109808764B (en) | 2019-02-28 | 2019-02-28 | Wire control steering device with redundancy function and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109808764A true CN109808764A (en) | 2019-05-28 |
| CN109808764B CN109808764B (en) | 2024-05-07 |
Family
ID=66607771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910151723.4A Active CN109808764B (en) | 2019-02-28 | 2019-02-28 | Wire control steering device with redundancy function and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109808764B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356473A (en) * | 2019-07-24 | 2019-10-22 | 重庆长安汽车股份有限公司 | A kind of vehicle redundancy rotation angular sensing system |
| CN110606121A (en) * | 2019-08-28 | 2019-12-24 | 中国第一汽车股份有限公司 | Drive-by-wire steering road feel simulation control method |
| CN110758550A (en) * | 2019-10-11 | 2020-02-07 | 南京航空航天大学 | Energy optimization method of wire-controlled double-motor coupling steering system |
| CN110775154A (en) * | 2019-10-25 | 2020-02-11 | 南京航空航天大学 | Electric truck steer-by-wire system and network uncertain control method thereof |
| CN110816654A (en) * | 2019-08-08 | 2020-02-21 | 中国第一汽车股份有限公司 | Signal estimation method, device, vehicle and storage medium |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN111038583A (en) * | 2019-12-31 | 2020-04-21 | 深圳一清创新科技有限公司 | Unmanned vehicle steering compensation method and device, computer equipment and storage medium |
| CN111055919A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111547131A (en) * | 2020-04-24 | 2020-08-18 | 中国第一汽车股份有限公司 | Vehicle steering parameter determination method and device, vehicle and storage medium |
| CN111634326A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, system architecture and driving equipment |
| CN111634330A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Steer-by-wire system, control method and storage medium |
| CN111661137A (en) * | 2020-06-15 | 2020-09-15 | 中国第一汽车股份有限公司 | Remote driving road feel simulation method, device and system and storage medium |
| CN111959288A (en) * | 2020-07-02 | 2020-11-20 | 武汉理工大学 | Vehicle yaw moment control method, system, device and storage medium |
| CN112782964A (en) * | 2020-12-25 | 2021-05-11 | 际络科技(上海)有限公司 | Automatic driving steering system, method, device, electronic equipment and storage medium |
| CN112793659A (en) * | 2021-03-05 | 2021-05-14 | 南京经纬达汽车科技有限公司 | Redundant steering system with dual purposes of autonomous steering and power assisting and control method thereof |
| CN114026010A (en) * | 2019-06-20 | 2022-02-08 | 株式会社万都 | Steering control device and steering assist system including the same |
| CN114104091A (en) * | 2020-08-28 | 2022-03-01 | 华为技术有限公司 | Independent steering mechanism, steering system and control method |
| CN114185259A (en) * | 2021-10-29 | 2022-03-15 | 际络科技(上海)有限公司 | Automatic driving mode synchronous control structure and method |
| CN114715267A (en) * | 2021-01-07 | 2022-07-08 | 大众汽车股份公司 | Steer-by-wire system for motor vehicles with simplified control architecture |
| CN116161110A (en) * | 2023-03-10 | 2023-05-26 | 浙江吉利控股集团有限公司 | Steering-by-wire system, redundancy backup method and device thereof, storage medium and vehicle |
| CN117068254A (en) * | 2023-08-16 | 2023-11-17 | 上海同驭汽车科技有限公司 | Redundant-design automobile steering system, control method and vehicle |
| CN117565969A (en) * | 2024-01-19 | 2024-02-20 | 中国第一汽车股份有限公司 | Method, device, equipment and vehicle for correcting and superposing steering torque signal by wire |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10112514A1 (en) * | 2000-12-22 | 2002-06-27 | Volkswagen Ag | X-by-wire system for vehicle has redundant modules in units with first modules networked to form subsystem, likewise second modules; second subsystem consists only of second modules |
| US20080011539A1 (en) * | 2006-07-13 | 2008-01-17 | Tedrive Holding Bv | Determination of the absolute position of a steering system through a linear sensor on the rack |
| CN101229819A (en) * | 2008-02-28 | 2008-07-30 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN102275611A (en) * | 2011-04-29 | 2011-12-14 | 上海理工大学 | Distributed automobile line control steering system and control method |
| CN102582681A (en) * | 2012-03-05 | 2012-07-18 | 北京工业大学 | Alternating-current permanent magnet type electric power steering control system based on DSP (Digital Signal Processor) and method |
| CN202754022U (en) * | 2012-06-25 | 2013-02-27 | 惠州天缘电子有限公司 | Automobile steering-by-wire system |
| CN103419835A (en) * | 2013-07-22 | 2013-12-04 | 湖南大学 | Automobile steering-by-wire system and control method thereof |
| CN103587576A (en) * | 2013-12-06 | 2014-02-19 | 中国石油大学(华东) | Power-driven automobile steering-by-wire system and control method |
| CN105279309A (en) * | 2015-09-16 | 2016-01-27 | 南京航空航天大学 | Aligning torque estimation based design method for active steering ideal steering wheel torque |
| CN106302064A (en) * | 2016-08-16 | 2017-01-04 | 新誉集团有限公司 | The data transfer optimization method and system of binary-channel redundancy CAN used for electric vehicle |
| DE102016215487A1 (en) * | 2016-08-18 | 2018-02-22 | Volkswagen Aktiengesellschaft | Driver assistance system, means of locomotion and method for checking a motor-assisted steering system |
| CN107901979A (en) * | 2017-11-10 | 2018-04-13 | 南京双环电器股份有限公司 | A kind of electro-hydraulic active steering road feel control system of automobile and its control method |
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
| CN207337102U (en) * | 2017-09-26 | 2018-05-08 | 湖北楚慧炎智能科技有限公司 | A kind of one drag two servo-control system |
| CN108820035A (en) * | 2018-05-29 | 2018-11-16 | 南京航空航天大学 | A kind of rotating direction control method of commercial vehicle line traffic control hydraulic steering system |
| CN109291991A (en) * | 2018-12-01 | 2019-02-01 | 南京天航智能装备研究院有限公司 | A kind of bi-motor line traffic control composite turning system and its control method |
| CN209852413U (en) * | 2019-02-28 | 2019-12-27 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function |
-
2019
- 2019-02-28 CN CN201910151723.4A patent/CN109808764B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10112514A1 (en) * | 2000-12-22 | 2002-06-27 | Volkswagen Ag | X-by-wire system for vehicle has redundant modules in units with first modules networked to form subsystem, likewise second modules; second subsystem consists only of second modules |
| US20080011539A1 (en) * | 2006-07-13 | 2008-01-17 | Tedrive Holding Bv | Determination of the absolute position of a steering system through a linear sensor on the rack |
| CN101229819A (en) * | 2008-02-28 | 2008-07-30 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN102275611A (en) * | 2011-04-29 | 2011-12-14 | 上海理工大学 | Distributed automobile line control steering system and control method |
| CN102582681A (en) * | 2012-03-05 | 2012-07-18 | 北京工业大学 | Alternating-current permanent magnet type electric power steering control system based on DSP (Digital Signal Processor) and method |
| CN202754022U (en) * | 2012-06-25 | 2013-02-27 | 惠州天缘电子有限公司 | Automobile steering-by-wire system |
| CN103419835A (en) * | 2013-07-22 | 2013-12-04 | 湖南大学 | Automobile steering-by-wire system and control method thereof |
| CN103587576A (en) * | 2013-12-06 | 2014-02-19 | 中国石油大学(华东) | Power-driven automobile steering-by-wire system and control method |
| CN105279309A (en) * | 2015-09-16 | 2016-01-27 | 南京航空航天大学 | Aligning torque estimation based design method for active steering ideal steering wheel torque |
| CN106302064A (en) * | 2016-08-16 | 2017-01-04 | 新誉集团有限公司 | The data transfer optimization method and system of binary-channel redundancy CAN used for electric vehicle |
| DE102016215487A1 (en) * | 2016-08-18 | 2018-02-22 | Volkswagen Aktiengesellschaft | Driver assistance system, means of locomotion and method for checking a motor-assisted steering system |
| CN207337102U (en) * | 2017-09-26 | 2018-05-08 | 湖北楚慧炎智能科技有限公司 | A kind of one drag two servo-control system |
| CN107901979A (en) * | 2017-11-10 | 2018-04-13 | 南京双环电器股份有限公司 | A kind of electro-hydraulic active steering road feel control system of automobile and its control method |
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
| CN108820035A (en) * | 2018-05-29 | 2018-11-16 | 南京航空航天大学 | A kind of rotating direction control method of commercial vehicle line traffic control hydraulic steering system |
| CN109291991A (en) * | 2018-12-01 | 2019-02-01 | 南京天航智能装备研究院有限公司 | A kind of bi-motor line traffic control composite turning system and its control method |
| CN209852413U (en) * | 2019-02-28 | 2019-12-27 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function |
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114026010A (en) * | 2019-06-20 | 2022-02-08 | 株式会社万都 | Steering control device and steering assist system including the same |
| CN114026010B (en) * | 2019-06-20 | 2023-04-18 | 汉拿万都株式会社 | Steering control device and steering assist system including the same |
| CN110356473A (en) * | 2019-07-24 | 2019-10-22 | 重庆长安汽车股份有限公司 | A kind of vehicle redundancy rotation angular sensing system |
| CN110816654A (en) * | 2019-08-08 | 2020-02-21 | 中国第一汽车股份有限公司 | Signal estimation method, device, vehicle and storage medium |
| CN110606121A (en) * | 2019-08-28 | 2019-12-24 | 中国第一汽车股份有限公司 | Drive-by-wire steering road feel simulation control method |
| CN110606121B (en) * | 2019-08-28 | 2021-02-19 | 中国第一汽车股份有限公司 | Drive-by-wire steering road feel simulation control method |
| CN110758550A (en) * | 2019-10-11 | 2020-02-07 | 南京航空航天大学 | Energy optimization method of wire-controlled double-motor coupling steering system |
| CN110758550B (en) * | 2019-10-11 | 2021-08-06 | 南京航空航天大学 | Energy optimization method of wire-controlled double-motor coupling steering system |
| CN110775154B (en) * | 2019-10-25 | 2021-02-05 | 南京航空航天大学 | Electric truck steer-by-wire system and network uncertain control method thereof |
| CN110775154A (en) * | 2019-10-25 | 2020-02-11 | 南京航空航天大学 | Electric truck steer-by-wire system and network uncertain control method thereof |
| KR102645499B1 (en) * | 2019-10-25 | 2024-03-07 | 난징 유니버시티 오브 에어로노틱스 앤드 애스트로노틱스 | Vehicle steer-by-wire system and control method for its network instability |
| KR20220027206A (en) * | 2019-10-25 | 2022-03-07 | 난징 유니버시티 오브 에어로노틱스 앤드 애스트로노틱스 | Steer-by-wire system for vehicle and control method for network instability thereof |
| WO2021077727A1 (en) * | 2019-10-25 | 2021-04-29 | 南京航空航天大学 | Electric truck steer-by-wire system and network uncertainty control method therefor |
| CN111055919A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111055919B (en) * | 2019-12-18 | 2021-09-17 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111038583A (en) * | 2019-12-31 | 2020-04-21 | 深圳一清创新科技有限公司 | Unmanned vehicle steering compensation method and device, computer equipment and storage medium |
| CN111017010B (en) * | 2020-01-03 | 2023-11-07 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN111547131A (en) * | 2020-04-24 | 2020-08-18 | 中国第一汽车股份有限公司 | Vehicle steering parameter determination method and device, vehicle and storage medium |
| CN111634326A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, system architecture and driving equipment |
| CN111634330A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Steer-by-wire system, control method and storage medium |
| WO2021223706A1 (en) * | 2020-05-07 | 2021-11-11 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, redundant steer-by-wire system architecture and driving apparatus |
| CN111661137B (en) * | 2020-06-15 | 2021-04-16 | 中国第一汽车股份有限公司 | Remote driving road feel simulation method, device and system and storage medium |
| CN111661137A (en) * | 2020-06-15 | 2020-09-15 | 中国第一汽车股份有限公司 | Remote driving road feel simulation method, device and system and storage medium |
| CN111959288A (en) * | 2020-07-02 | 2020-11-20 | 武汉理工大学 | Vehicle yaw moment control method, system, device and storage medium |
| CN114104091A (en) * | 2020-08-28 | 2022-03-01 | 华为技术有限公司 | Independent steering mechanism, steering system and control method |
| CN112782964A (en) * | 2020-12-25 | 2021-05-11 | 际络科技(上海)有限公司 | Automatic driving steering system, method, device, electronic equipment and storage medium |
| CN114715267A (en) * | 2021-01-07 | 2022-07-08 | 大众汽车股份公司 | Steer-by-wire system for motor vehicles with simplified control architecture |
| CN112793659A (en) * | 2021-03-05 | 2021-05-14 | 南京经纬达汽车科技有限公司 | Redundant steering system with dual purposes of autonomous steering and power assisting and control method thereof |
| CN112793659B (en) * | 2021-03-05 | 2024-06-04 | 南京经纬达汽车科技有限公司 | Autonomous steering and power assisting dual-purpose redundant steering system and control method thereof |
| CN114185259A (en) * | 2021-10-29 | 2022-03-15 | 际络科技(上海)有限公司 | Automatic driving mode synchronous control structure and method |
| CN114185259B (en) * | 2021-10-29 | 2024-04-19 | 际络科技(上海)有限公司 | Automatic driving mode synchronous control structure and method |
| CN116161110A (en) * | 2023-03-10 | 2023-05-26 | 浙江吉利控股集团有限公司 | Steering-by-wire system, redundancy backup method and device thereof, storage medium and vehicle |
| CN117068254A (en) * | 2023-08-16 | 2023-11-17 | 上海同驭汽车科技有限公司 | Redundant-design automobile steering system, control method and vehicle |
| CN117068254B (en) * | 2023-08-16 | 2024-04-16 | 上海同驭汽车科技有限公司 | Redundant-design automobile steering system, control method and vehicle |
| CN117565969A (en) * | 2024-01-19 | 2024-02-20 | 中国第一汽车股份有限公司 | Method, device, equipment and vehicle for correcting and superposing steering torque signal by wire |
| CN117565969B (en) * | 2024-01-19 | 2024-04-16 | 中国第一汽车股份有限公司 | Method, device, equipment and vehicle for correcting and superposing steering torque signal by wire |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109808764B (en) | 2024-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109808764A (en) | A kind of steer by wire apparatus having redundancy feature and control method | |
| CN105083373B (en) | A kind of steering-by-wire road feel device and its control method based on parameter Estimation | |
| CN109664938B (en) | Drive-by-wire steering double-motor system based on driver behavior identification and yaw stability compensation strategy thereof | |
| CN105667577B (en) | Wire-controlled steering system and control method with sensor signal fault tolerance | |
| CN110606121B (en) | Drive-by-wire steering road feel simulation control method | |
| CN109291991B (en) | Dual-motor drive-by-wire composite steering system and control method thereof | |
| CN101512477B (en) | Method and apparatus to control coordinated wheel motors | |
| CN105015363B (en) | A kind of distributed driving automotive control system and method based on hierarchical coordinative | |
| CN112519793B (en) | Intelligent drive-by-wire chassis architecture based on digital twin and active fault tolerance method thereof | |
| CN201405922Y (en) | Automobile steer-by-wire system | |
| CN101596915B (en) | Linear control based automobile steering system | |
| CN102320326B (en) | Control method used for automobile steer-by-wire system | |
| CN111717278B (en) | Fault-tolerant control method and system for electric vehicle steering failure | |
| CN108163044A (en) | The steering redundancy of four motorized wheels electric vehicle and integrated control system and method | |
| CN109733464B (en) | Active fault tolerance and fault relief system based on steer-by-wire double motors and control method thereof | |
| CN209852413U (en) | Wire-controlled steering device with redundancy function | |
| US20080167778A1 (en) | Left-right independent steering device for steering left and right wheels independently | |
| CN107685767A (en) | A kind of multiaxis wheel-hub motor driven vehicle trailing wheel steering-by-wire drive device and its forward method | |
| CN110775154A (en) | Electric truck steer-by-wire system and network uncertain control method thereof | |
| CN102666256A (en) | Electric power steering device for vehicle | |
| CN105774902A (en) | Automobile power steering control device with fault-tolerant function and control method | |
| CN104443009A (en) | Active torque steer compensation during negative powertrain torque for hybrid and electric vehicles | |
| CN103223940A (en) | Electric car coordination control system | |
| CN113232722B (en) | Control method and control system of wire-controlled steering system and motor vehicle | |
| CN206537164U (en) | A kind of differential steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |