CN109850008A - A kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control method - Google Patents
A kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control method Download PDFInfo
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- CN109850008A CN109850008A CN201910136329.3A CN201910136329A CN109850008A CN 109850008 A CN109850008 A CN 109850008A CN 201910136329 A CN201910136329 A CN 201910136329A CN 109850008 A CN109850008 A CN 109850008A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control methods, system includes: steering wheel, steering column, road feel simulation device, bi-motor steering module, master controller, power supply fault tolerance facility, track rod, steered wheel unit；Power supply fault tolerance facility includes power-supply controller of electric unit, first power source unit, second power source unit；Power-supply controller of electric unit controls the first relay and the second relay is powered model selection, and exports first motor control signal and the second motor control signal.Fault tolerant control method of the present invention has a variety of powering modes, and it can be switched fast according to power supply and electrical fault situation, guarantee under single power failure condition, go to action is carried out by another power drives bi-motor, it avoids power failure that vehicle is caused to lose steering capability, enhances Vehicular turn safety.
Description
Technical field
The invention belongs to automobile steering system technical field, refer specifically to for a kind of bi-motor dual power supply wire-controlled steering system and
Its fault tolerant control method.
Background technique
Intelligent and line traffic control be automobile steering system development trend and one of intelligent automobile and new-energy automobile
Key technology.Since steering-by-wire eliminates the mechanical connection of conventional steering system, course changing control is carried out by the way of automatically controlled,
Therefore system reliability is particularly important.Existing steering-by-wire generallys use bi-motor executive device, wherein an electricity
When machine breaks down, another motor can still be turned to, and have fault tolerance.Such as Chinese Patent Application No. is
CN201711346835.2, patent name are in " a kind of more motor wire-controlled steering systems and control method with fault tolerance "
Propose a kind of fault tolerant control method for the corresponding electromagnetic clutch of faulty motor being separated by electric machine controller；Chinese patent
Application No. is CN201711344340 .6, patent name is " a kind of double generator redundancy steer by wire apparatus and its control method "
In propose one kind in line traffic control steering mechanism failure, electromagnetic clutch closes, and motor reversal makes diverter pinion gear and diverter
Rack gear completes the fault-tolerance approach turned to.
But existing bi-motor steering system is all made of single power supply and is powered, and does not account for power-fail situation
Under Fault-Tolerant Problems, once power failure, then two motors can not work, and lose driver completely to direction of traffic
Control, to cause great security risk.
Summary of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of bi-motor dual power supply steering-by-wires
System and its fault tolerant control method are difficult to realize bi-motor steering system power supply redundancy with solution in the prior art and power supply are fault-tolerant
The problem of control.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
A kind of bi-motor dual power supply wire-controlled steering system of the invention, comprising: steering wheel, it is steering column, road feel simulation device, double
Motor steering module, master controller, power supply fault tolerance facility, track rod, steered wheel unit；
The steering wheel connects steering column, and third torque sensor, rotary angle transmitter are fixedly mounted respectively on steering column, side
The active force inputted to disk acts on road feel simulation device by steering column；
The bi-motor steering module includes: first motor, the second motor, the first torque sensor, the second torque sensor,
One nut, the second nut, first ball screw, the second ball-screw；
First motor output end connects the first nut by the first torque sensor；Second motor output end is passed by the second torque
Sensor connects the second nut；First ball screw and the second ball-screw are fixed on track rod；First ball screw connects
The first nut is connect, the second ball-screw connects the second nut, and the steering moment for respectively exporting first motor and the second motor
It is transferred to track rod and is overlapped；Track rod two sides output end connects steered wheel unit, exports turning for superposition
To torque, steering operation is completed；
The power supply fault tolerance facility includes: power-supply controller of electric unit, first power source unit, second power source unit；
The input terminal of power-supply controller of electric unit is separately connected first power source unit and second power source unit, while and and master controller
Electrical connection；The output end of power-supply controller of electric unit is separately connected first motor and the second motor；
The input terminal of the master controller passes through the first torque sensor of vehicle mounted communication connection, the second torque sensor, the
Three torque sensors, rotary angle transmitter, vehicle speed sensor, yaw-rate sensor；The output end of master controller connects road feel
Simulator and power-supply controller of electric unit.
Further, the road feel simulation device includes motor and speed reducer structure, and the two is drivingly connected, motor output torque
Through deceleration, mechanism is acted on steering column, and active force is transferred to steering wheel by steering column, forms drive simulating road feel.
Further, the power-supply controller of electric unit includes relay controller, the first relay and the second relay；Relay
Controller input terminal connects first power source unit, second power source unit and master controller, output end and first motor, the second electricity
Machine, the first relay, the electrical connection of the second relay；The circuit of first power source unit is connect with contact a, b of the first relay,
Contact e, f output circuit of first relay is divided into two parallel circuits, and a branch connects first motor, another branch connects
Meet contact g, h of the second relay；Second power source unit output end is divided into two parallel circuits, and a branch connects the first relay
Contact i, j of contact c, d of device, another branch and the second relay are connected, the second electricity of contact k, m connection of the second relay
Machine.
A kind of fault tolerant control method of bi-motor dual power supply wire-controlled steering system of the invention is based on above system, including
Following steps:
1) according to vehicle driving situation, certain steering angle is inputted by steering wheel；
2) master controller receives the dtc signal of angular signal A, third dtc signal B, second C, the first dtc signal D, speed letter
Number E, yaw rate signal F, calculating bi-motor steering module needs power steering size and road feel simulation device to be offered
The feedback moment size needed, and export master controller power control signal H to power-supply controller of electric unit and simulated to road feel and fill
Set output road feel control signal R；
3) power-supply controller of electric unit receives first power source unit output signal J, second power source unit output signal K and master respectively
Controller power source controls signal H, and relay controller controls the first relay and the second relay is powered model selection, and defeated
First motor controls signal P and the second motor control signal Q out；
4) first motor and the steering moment of the second motor output are overlapped on track rod, are transferred to steered wheel list
Member completes wheel steering operation；The diverted tubing string of feedback moment and steering wheel of road feel simulation device output are transferred to driver,
Complete road feel simulated operation.
Further, in the step 3) powering mode selection specifically includes the following steps:
31) master controller judges first motor and according to the output signal of the first torque sensor and the second torque sensor
Whether two motors work normally, and export the master controller power supply comprising first motor and the second electric machine operation state and control letter
Number；Power-supply controller of electric unit receives first power source unit output signal and second power source unit output signal, obtains the first power supply
With second source working condition；Relay controller by each motor and power work state, control the first relay and second after
Electric appliance selects corresponding powering mode；
32) if first motor, the second motor, first power source unit, second power source unit work normally, power-supply controller of electric unit
Export first motor control signal and the second motor control signal, the contact a connecting terminal e of the first relay, contact b connection
Contact f, first power source unit are powered to first motor, the contact i connecting terminal k of the second relay, contact j connecting terminal m, the
Two power supply units are powered to the second motor, and steering system works normally；
If 33) second power source unit breaks down, power-supply controller of electric unit exports first motor control signal and the second motor control
Signal processed, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the contact g connecting terminal k of the second relay,
Contact h connecting terminal m, first power source unit give first motor and the second motor to power simultaneously, and power-supply controller of electric unit is to driving
Member issues failure warning；
If 34) first motor failure and second power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and controls signal, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
Contact g connecting terminal k, contact h connecting terminal m, first power source unit give the second motor power supply, first motor break-off,
Power-supply controller of electric unit issues failure warning to driver；
If 35) the second electrical fault and second power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
It disconnects, first power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit issues event to driver
Barrier warning；
If 36) first power source unit failure, power-supply controller of electric unit exports first motor control signal and the second motor control letter
Number, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the contact i connecting terminal k of the second relay, contact j
Connecting terminal m, second power source unit are powered to first motor power supply and the second motor, and power-supply controller of electric unit is issued to driver
Failure warning；
If 37) the second electrical fault and first power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the second relay
Device disconnects, and second power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit is issued to driver
Failure warning；
If 38) first motor failure and first power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and control signal, the first relay disconnects, the contact i connecting terminal k of the second relay, contact j connection
Contact m, second power source unit are powered to the second motor, first motor break-off, issue failure warning to driver；
If 39) first motor, the second motor, first power source unit, the equal failure of second power source unit, power-supply controller of electric unit stops
Output first motor control signal and the second motor control signal, the first relay are disconnected with the second relay, first motor
With the second motor break-off, power-supply controller of electric unit issues failure warning to driver, and driver is prompted promptly to be made
Dynamic operation.
Beneficial effects of the present invention:
System of the invention has power supply redundancy device, can guarantee under single power failure condition, by another power drives
Bi-motor carries out go to action, avoids power failure that vehicle is caused to lose steering capability, enhances Vehicular turn safety.
Fault tolerant control method of the invention, has a variety of powering modes, and can according to power supply and electrical fault situation into
Row is switched fast, and utmostly guarantees the reliability and safety of steering system power supply module.
Detailed description of the invention
Fig. 1 is bi-motor dual power supply wire-controlled steering system theory structure block diagram of the present invention；
Fig. 2 is dual power supply switching principle figure of the present invention；
Fig. 3 is fault tolerant control method flow chart of the present invention；
In figure, 1- steering wheel, 2- rotary angle transmitter, 3- steering column, 4- third torque sensor, 5- road feel simulation device, 6-
Master controller, 7- power-supply controller of electric unit, 8- first power source unit, 9- first motor, the first torque sensor of 10-, 11- first
Nut, 12- first ball screw, 13- track rod, the second nut of 14-, the second ball-screw of 15-, 16- steered wheel list
Member, the second torque sensor of 17-, the second motor of 18-, 19- second power source unit, 20- power supply fault tolerance facility；
A- angular signal, B- third dtc signal, the second dtc signal of C-, the first dtc signal of D-, E- speed signal, F- sideway
Angular velocity signal, H- master controller power control signal, J- first power source unit output signal, K- second power source unit output letter
Number, P- first motor controls signal, the second motor control signal of Q-, and R- road feel controls signal.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in referring to Fig.1, a kind of bi-motor dual power supply wire-controlled steering system of the invention, comprising: steering wheel 1, steering tube
Column 3, road feel simulation device 5, bi-motor steering module, master controller 6, power supply fault tolerance facility 20, track rod 13, bogie car
Take turns unit 16；
The steering wheel connects steering column, and third torque sensor 4, rotary angle transmitter 2 are fixedly mounted respectively on steering column,
The active force of steering wheel input acts on road feel simulation device 5 by steering column；Road feel simulation device includes motor and deceleration
Mechanism, the two are drivingly connected, and motor output torque acts on steering column through deceleration mechanism, and steering column transmits active force
To steering wheel, drive simulating road feel is formed.
The bi-motor steering module includes: first motor 9, the second motor 18, the first torque sensor 10, the second torque
Sensor 17, the first nut 11, the second nut 14, first ball screw 12, the second ball-screw 15；
First motor output end connects the first nut by the first torque sensor；Second motor output end is passed by the second torque
Sensor connects the second nut；First ball screw and the second ball-screw are fixed on track rod；First ball screw connects
The first nut is connect, the second ball-screw connects the second nut, and the steering moment for respectively exporting first motor and the second motor
It is transferred to track rod 13 and is overlapped；Track rod two sides output end connects steered wheel unit, exports superposition
Steering moment completes steering operation；
The power supply fault tolerance facility 20 includes: power-supply controller of electric unit 7, first power source unit 8, second power source unit 19；
The input terminal of power-supply controller of electric unit is separately connected first power source unit and second power source unit, while and and master controller
6 electrical connections；The output end of power-supply controller of electric unit is separately connected first motor and the second motor；
The input terminal of the master controller 6 passes through vehicle mounted communication connection the first torque sensor 10, the second torque sensor
17, third torque sensor 4, rotary angle transmitter 2, vehicle speed sensor, yaw-rate sensor；The output end of master controller connects
Connect road feel simulation device 5 and power-supply controller of electric unit 7.
Referring to shown in Fig. 2, the power-supply controller of electric unit includes relay controller, the first relay and the second relay；
Relay controller input terminal connects first power source unit, second power source unit and master controller, output end and first motor, second
Motor, the first relay, the electrical connection of the second relay；Contact a, b of the circuit of first power source unit and the first relay connect
It connects, contact e, f output circuit of the first relay is divided into two parallel circuits, and a branch connects first motor, another branch
Road connects contact g, h of the second relay；Second power source unit output end is divided into two parallel circuits, a branch connection first
Contact i, j of contact c, d of relay, another branch and the second relay are connected, contact k, m connection of the second relay the
Two motors.
Referring to shown in Fig. 3, the fault tolerant control method of a kind of bi-motor dual power supply wire-controlled steering system of the invention, based on upper
State system, comprising the following steps:
1) according to vehicle driving situation, driver inputs certain steering angle by steering wheel；
2) master controller receives the dtc signal of angular signal A, third dtc signal B, second C, the first dtc signal D, speed letter
Number E, yaw rate signal F, calculating bi-motor steering module needs power steering size and road feel simulation device to be offered
The feedback moment size needed, and export master controller power control signal H to power-supply controller of electric unit and simulated to road feel and fill
Set output road feel control signal R；
3) power-supply controller of electric unit receives first power source unit output signal J, second power source unit output signal K and master respectively
Controller power source controls signal H, and relay controller controls the first relay and the second relay is powered model selection, and defeated
First motor controls signal P and the second motor control signal Q out；
4) first motor and the steering moment of the second motor output are overlapped on track rod, are transferred to steered wheel list
Member completes wheel steering operation；The diverted tubing string of feedback moment and steering wheel of road feel simulation device output are transferred to driver,
Complete road feel simulated operation.
Wherein, in the step 3) powering mode selection specifically includes the following steps:
31) master controller judges first motor and according to the output signal of the first torque sensor and the second torque sensor
Whether two motors work normally, and export the master controller power supply comprising first motor and the second electric machine operation state and control letter
Number；Power-supply controller of electric unit receives first power source unit output signal and second power source unit output signal, obtains the first power supply
With second source working condition；Relay controller by each motor and power work state, control the first relay and second after
Electric appliance selects corresponding powering mode；
32) if first motor, the second motor, first power source unit, second power source unit work normally, power-supply controller of electric unit
Export first motor control signal and the second motor control signal, the contact a connecting terminal e of the first relay, contact b connection
Contact f, first power source unit are powered to first motor, the contact i connecting terminal k of the second relay, contact j connecting terminal m, the
Two power supply units are powered to the second motor, and steering system works normally；
If 33) second power source unit breaks down, power-supply controller of electric unit exports first motor control signal and the second motor control
Signal processed, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the contact g connecting terminal k of the second relay,
Contact h connecting terminal m, first power source unit give first motor and the second motor to power simultaneously, and power-supply controller of electric unit is to driving
Member issues failure warning；
If 34) first motor failure and second power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and controls signal, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
Contact g connecting terminal k, contact h connecting terminal m, first power source unit give the second motor power supply, first motor break-off,
Power-supply controller of electric unit issues failure warning to driver；
If 35) the second electrical fault and second power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
It disconnects, first power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit issues event to driver
Barrier warning；
If 36) first power source unit failure, power-supply controller of electric unit exports first motor control signal and the second motor control letter
Number, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the contact i connecting terminal k of the second relay, contact j
Connecting terminal m, second power source unit are powered to first motor power supply and the second motor, and power-supply controller of electric unit is issued to driver
Failure warning；
If 37) the second electrical fault and first power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the second relay
Device disconnects, and second power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit is issued to driver
Failure warning；
If 38) first motor failure and first power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and control signal, the first relay disconnects, the contact i connecting terminal k of the second relay, contact j connection
Contact m, second power source unit are powered to the second motor, first motor break-off, issue failure warning to driver；
If 39) first motor, the second motor, first power source unit, the equal failure of second power source unit, power-supply controller of electric unit stops
Output first motor control signal and the second motor control signal, the first relay are disconnected with the second relay, first motor
With the second motor break-off, power-supply controller of electric unit issues failure warning to driver, and driver is prompted promptly to be made
Dynamic operation.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of bi-motor dual power supply wire-controlled steering system characterized by comprising steering wheel, steering column, road feel simulation dress
It sets, bi-motor steering module, master controller, power supply fault tolerance facility, track rod, steered wheel unit；
The steering wheel connects steering column, and third torque sensor, rotary angle transmitter are fixedly mounted respectively on steering column, side
The active force inputted to disk acts on road feel simulation device by steering column；
The bi-motor steering module includes: first motor, the second motor, the first torque sensor, the second torque sensor,
One nut, the second nut, first ball screw, the second ball-screw；
First motor output end connects the first nut by the first torque sensor；Second motor output end is passed by the second torque
Sensor connects the second nut；First ball screw and the second ball-screw are fixed on track rod；First ball screw connects
The first nut is connect, the second ball-screw connects the second nut, and the steering moment for respectively exporting first motor and the second motor
It is transferred to track rod and is overlapped；Track rod two sides output end connects steered wheel unit, exports turning for superposition
To torque, steering operation is completed；
The power supply fault tolerance facility includes: power-supply controller of electric unit, first power source unit, second power source unit；
The input terminal of power-supply controller of electric unit is separately connected first power source unit and second power source unit, while and and master controller
Electrical connection；The output end of power-supply controller of electric unit is separately connected first motor and the second motor；
The input terminal of the master controller passes through the first torque sensor of vehicle mounted communication connection, the second torque sensor, the
Three torque sensors, rotary angle transmitter, vehicle speed sensor, yaw-rate sensor；The output end of master controller connects road feel
Simulator and power-supply controller of electric unit.
2. bi-motor dual power supply wire-controlled steering system according to claim 1, which is characterized in that the road feel simulation device
Including motor and speed reducer structure, the two is drivingly connected, and motor output torque acts on steering column through deceleration mechanism, steering tube
Active force is transferred to steering wheel by column, forms drive simulating road feel.
3. bi-motor dual power supply wire-controlled steering system according to claim 1, which is characterized in that the power-supply controller of electric list
Member includes relay controller, the first relay and the second relay；Relay controller input terminal connects first power source unit, second
Power supply unit and master controller, output end and first motor, the second motor, the first relay, the second relay are electrically connected；The
The circuit of one power supply unit is connect with contact a, b of the first relay, and contact e, f output circuit of the first relay is divided into two
Parallel circuit, a branch connect first motor, another branch connects contact g, h of the second relay；Second power source unit
Output end is divided into two parallel circuits, and a branch connects contact c, d of the first relay, another branch and the second relay
Contact i, j connection, contact k, m of the second relay connect the second motor.
4. a kind of fault tolerant control method of bi-motor dual power supply wire-controlled steering system, based on system described in the claims 3,
Characterized by comprising the following steps:
1) according to vehicle driving situation, certain steering angle is inputted by steering wheel；
2) master controller receives the dtc signal of angular signal A, third dtc signal B, second C, the first dtc signal D, speed letter
Number E, yaw rate signal F, calculating bi-motor steering module needs power steering size and road feel simulation device to be offered
The feedback moment size needed, and export master controller power control signal H to power-supply controller of electric unit and simulated to road feel and fill
Set output road feel control signal R；
3) power-supply controller of electric unit receives first power source unit output signal J, second power source unit output signal K and master respectively
Controller power source controls signal H, and relay controller controls the first relay and the second relay is powered model selection, and defeated
First motor controls signal P and the second motor control signal Q out；
4) first motor and the steering moment of the second motor output are overlapped on track rod, are transferred to steered wheel list
Member completes wheel steering operation；The diverted tubing string of feedback moment and steering wheel of road feel simulation device output are transferred to driver,
Complete road feel simulated operation.
5. the fault tolerant control method of bi-motor dual power supply wire-controlled steering system according to claim 4, which is characterized in that institute
State in step 3) powering mode selection specifically includes the following steps:
31) master controller judges first motor and according to the output signal of the first torque sensor and the second torque sensor
Whether two motors work normally, and export the master controller power supply comprising first motor and the second electric machine operation state and control letter
Number；Power-supply controller of electric unit receives first power source unit output signal and second power source unit output signal, obtains the first power supply
With second source working condition；Relay controller by each motor and power work state, control the first relay and second after
Electric appliance selects corresponding powering mode；
32) if first motor, the second motor, first power source unit, second power source unit work normally, power-supply controller of electric unit
Export first motor control signal and the second motor control signal, the contact a connecting terminal e of the first relay, contact b connection
Contact f, first power source unit are powered to first motor, the contact i connecting terminal k of the second relay, contact j connecting terminal m, the
Two power supply units are powered to the second motor, and steering system works normally；
If 33) second power source unit breaks down, power-supply controller of electric unit exports first motor control signal and the second motor control
Signal processed, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the contact g connecting terminal k of the second relay,
Contact h connecting terminal m, first power source unit give first motor and the second motor to power simultaneously, and power-supply controller of electric unit is to driving
Member issues failure warning；
If 34) first motor failure and second power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and controls signal, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
Contact g connecting terminal k, contact h connecting terminal m, first power source unit give the second motor power supply, first motor break-off,
Power-supply controller of electric unit issues failure warning to driver；
If 35) the second electrical fault and second power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact a connecting terminal e of the first relay, contact b connecting terminal f, the second relay
It disconnects, first power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit issues event to driver
Barrier warning；
If 36) first power source unit failure, power-supply controller of electric unit exports first motor control signal and the second motor control letter
Number, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the contact i connecting terminal k of the second relay, contact j
Connecting terminal m, second power source unit are powered to first motor power supply and the second motor, and power-supply controller of electric unit is issued to driver
Failure warning；
If 37) the second electrical fault and first power source unit failure, power-supply controller of electric unit exports first motor and controls signal, and
Stop the second motor control signal of output, the contact c connecting terminal e of the first relay, contact d connecting terminal f, the second relay
Device disconnects, and second power source unit is powered to first motor, the second motor break-off, and power-supply controller of electric unit is issued to driver
Failure warning；
If 38) first motor failure and first power source unit failure, power-supply controller of electric unit exports the second motor control signal, and
Stop output first motor and control signal, the first relay disconnects, the contact i connecting terminal k of the second relay, contact j connection
Contact m, second power source unit are powered to the second motor, first motor break-off, issue failure warning to driver；
If 39) first motor, the second motor, first power source unit, the equal failure of second power source unit, power-supply controller of electric unit stops
Output first motor control signal and the second motor control signal, the first relay are disconnected with the second relay, first motor
With the second motor break-off, power-supply controller of electric unit issues failure warning to driver, and driver is prompted promptly to be made
Dynamic operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136329.3A CN109850008B (en) | 2019-02-25 | 2019-02-25 | Dual-motor dual-power-supply steer-by-wire system and fault-tolerant control method thereof |
| PCT/CN2019/115624 WO2020173122A1 (en) | 2019-02-25 | 2019-11-05 | Dual-electric-motor dual-power supply steer-by-wire system and fault-tolerant control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136329.3A CN109850008B (en) | 2019-02-25 | 2019-02-25 | Dual-motor dual-power-supply steer-by-wire system and fault-tolerant control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109850008A true CN109850008A (en) | 2019-06-07 |
| CN109850008B CN109850008B (en) | 2020-07-28 |
Family
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| CN201910136329.3A Active CN109850008B (en) | 2019-02-25 | 2019-02-25 | Dual-motor dual-power-supply steer-by-wire system and fault-tolerant control method thereof |
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| WO (1) | WO2020173122A1 (en) |
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| 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 |
| CN111038578A (en) * | 2019-12-11 | 2020-04-21 | 南京航空航天大学 | Double-source double-winding motor drive-by-wire steering system and fault-tolerant control method thereof |
| CN111055918A (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 control method thereof |
| CN111361634A (en) * | 2020-04-02 | 2020-07-03 | 株洲易力达机电有限公司 | Electric power steering system |
| WO2020173122A1 (en) * | 2019-02-25 | 2020-09-03 | 南京航空航天大学 | Dual-electric-motor dual-power supply steer-by-wire system and fault-tolerant control method therefor |
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| CN112477977A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Vehicle power-assisted steering device and control method thereof |
| CN112865408A (en) * | 2021-01-11 | 2021-05-28 | 北京航空航天大学 | Dual-redundancy electromechanical actuator |
| CN113320592A (en) * | 2021-06-11 | 2021-08-31 | 浙江国芯科技有限公司 | Remote control type AGV fork truck drive-by-wire steering device |
| CN114666942A (en) * | 2020-12-23 | 2022-06-24 | 常州星宇车灯股份有限公司 | Control circuit |
| WO2023197197A1 (en) * | 2022-04-13 | 2023-10-19 | 华为技术有限公司 | Steering control apparatus, steering system, and vehicle |
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| WO2020173122A1 (en) * | 2019-02-25 | 2020-09-03 | 南京航空航天大学 | Dual-electric-motor dual-power supply steer-by-wire system and fault-tolerant control method therefor |
| CN112477977A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Vehicle power-assisted steering device and control method thereof |
| CN111038578A (en) * | 2019-12-11 | 2020-04-21 | 南京航空航天大学 | Double-source double-winding motor drive-by-wire steering system and fault-tolerant control method thereof |
| CN111038578B (en) * | 2019-12-11 | 2020-12-01 | 南京航空航天大学 | Double-source double-winding motor drive-by-wire steering system and fault-tolerant control method thereof |
| CN111055918A (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 control method thereof |
| 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 |
| 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 |
| CN111361634A (en) * | 2020-04-02 | 2020-07-03 | 株洲易力达机电有限公司 | Electric power steering system |
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| CN114666942A (en) * | 2020-12-23 | 2022-06-24 | 常州星宇车灯股份有限公司 | Control circuit |
| CN112865408A (en) * | 2021-01-11 | 2021-05-28 | 北京航空航天大学 | Dual-redundancy electromechanical actuator |
| CN112865408B (en) * | 2021-01-11 | 2021-11-02 | 北京航空航天大学 | Dual-redundancy electromechanical actuator |
| CN113320592A (en) * | 2021-06-11 | 2021-08-31 | 浙江国芯科技有限公司 | Remote control type AGV fork truck drive-by-wire steering device |
| WO2023197197A1 (en) * | 2022-04-13 | 2023-10-19 | 华为技术有限公司 | Steering control apparatus, steering system, and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109850008B (en) | 2020-07-28 |
| WO2020173122A1 (en) | 2020-09-03 |
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