CN111845922A - Steering drive device and steering system - Google Patents
Steering drive device and steering system Download PDFInfo
- Publication number
- CN111845922A CN111845922A CN202010672659.7A CN202010672659A CN111845922A CN 111845922 A CN111845922 A CN 111845922A CN 202010672659 A CN202010672659 A CN 202010672659A CN 111845922 A CN111845922 A CN 111845922A
- Authority
- CN
- China
- Prior art keywords
- steering
- controller
- motor
- vehicle
- drive device
- 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.)
- Pending
Links
- 238000004804 winding Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000002360 preparation method Methods 0.000 claims 2
- 238000009434 installation Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 1
- 229920003169 water-soluble polymer Polymers 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- 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
- B62D5/0442—Conversion of rotational into longitudinal movement
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a steering drive device and a steering system. The steering driving device is used for driving a vehicle to steer and comprises an electric motor and a driving device, wherein the electric motor is used for driving a steering mechanism of the vehicle to steer; a controller for controlling the motor; wherein the steering drive device is configured to: one said electric motor is respectively associated with each wheel of said vehicle so that said wheels are driven independently with respect to each other, one said controller is respectively associated with each said electric motor, and a redundant controller for controlling the corresponding said electric motor in place of the failed controller when said controller fails.
Description
Technical Field
The present invention relates to the field of vehicle steering, and in particular to a steering drive device and a steering system.
Background
The steering system of an automobile controls the rotation of the wheels. During a steering operation of an automobile, steering is generally performed by turning a steering wheel and driving wheels with an electric motor.
One prior art steering system is capable of steering only the front wheels, and not the rear wheels to steer the rear wheels. Fig. 1(a) shows such a steering system 10A that can drive only the front wheels to steer them, specifically, the steering of the front wheels in fig. 1(a) is that the rack-and-pinion steering gear 2 is driven to the left or right by the driver 1, causing the tie rod 3 to move together with the rack-and-pinion steering gear 2, thereby steering the front wheels by the driving force transmitted to the steering of the front wheels via the arms 4. Fig. 1(B) shows another steering system 10B, in which steering system 10B the rack-and-pinion steering gear 2 in fig. 1(a) is replaced by a ball screw 5, and an actuator 1 drives the front wheels to steer by driving the ball screw 5 to the left or right. Such a steering system has a limited steering capability and requires a large installation space since it can only drive the front wheel for steering.
Another prior art steering system is used to drive both front wheels and rear wheels for steering, and as shown in fig. 2, in a steering system 20, two steering driving devices 6 and 7 are provided for the front wheels and the rear wheels, respectively, to drive the front wheels and the rear wheels for steering, respectively. However, such a steering system also has a limited steering capability and requires a large installation space since it can only steer the front and rear wheels at a small steering angle.
In addition, the steering drive device in the prior art also has the problems of low reliability and low safety.
Disclosure of Invention
The invention aims to provide a steering driving device and a steering system which have high steering capacity, high reliability and high safety.
An aspect of the present invention provides a steering drive device for driving a vehicle to steer, and including,
an electric motor for driving a steering mechanism of the vehicle to steer;
a controller for controlling the motor;
wherein the content of the first and second substances,
the steering drive device is configured to:
one said electric motor is respectively associated with each wheel of said vehicle so that said wheels are driven independently with respect to each other,
One said controller is respectively provided for each said motor, and
also included is a redundant controller for controlling the respective motor in place of the failed controller when the controller fails.
According to an embodiment of the invention, one of said redundant controllers is arranged for part of said controllers of a plurality of said controllers.
According to an embodiment of the present invention, the motors include first, second, third and fourth motors for left, right, left and right front wheels, respectively, of a vehicle, and first, second, third and fourth controllers for the first, second, third and fourth motors, respectively.
According to an embodiment of the present invention, the redundant controllers include a first redundant controller and a second redundant controller, and the first redundant controller is for the first controller and the second controller, and the second redundant controller is for the third controller and the fourth controller.
According to an embodiment of the invention, a first winding and a second winding are provided in the electric motor, and the second winding is used to replace the first winding when the first winding fails.
Another aspect of the present invention provides a steering system for steering a vehicle and including a steering mechanism that performs an operation,
which is characterized in that the water-soluble polymer is,
the steering driving device is used for driving the steering mechanism to perform steering operation.
According to an embodiment of the present invention, the steering mechanism includes a ball screw, and the steering drive device is configured to be connected to the ball screw.
According to an embodiment of the present invention, a transmission mechanism provided between the steering drive device and the ball screw is further included.
According to an embodiment of the invention, the transmission is arranged as a belt transmission.
According to an embodiment of the invention, all wheels of the vehicle can be oriented in the width direction of the vehicle via the steering drive.
Drawings
Fig. 1(a) and 1(b) schematically show a steering system in the related art.
Fig. 2 schematically shows another prior art steering system.
Fig. 3 schematically shows a partial structure of a steering system according to an embodiment of the present invention.
Fig. 4 schematically shows a steering drive device according to an embodiment of the invention.
Fig. 5 schematically shows a steering drive device according to another embodiment of the present invention.
Fig. 6(a) -6 (e) schematically illustrate steering of the steering system according to an embodiment of the present invention.
Detailed Description
A specific embodiment of a steering drive device and a steering system according to the present invention will be described below with reference to the accompanying drawings. The following detailed description and drawings are included to illustrate the principles of the invention, which is not to be limited to the preferred embodiments described, but is to be defined by the appended claims.
In addition, spatially relative terms (such as "upper," "lower," "left," and "right," etc.) are used to describe one element's relative positional relationship with another element as illustrated in the figures. Spatially relative terms may therefore apply in other orientations than those illustrated in the figures, when used. It will be apparent that although for ease of illustration all of these spatially relative terms refer to the orientation shown in the drawings, those skilled in the art will appreciate that orientations other than those shown in the drawings may be used.
Fig. 3 schematically shows a partial structure of a steering system according to an embodiment of the present invention. A steering system according to an embodiment of the present invention is described below with reference to fig. 3.
As shown in fig. 3, a steering system 10 according to an embodiment of the present invention is used for steering of a vehicle and includes a steering mechanism that performs an operation. The steering system 10 further includes a steering driving device 100, and the steering driving device 100 is used for driving the steering mechanism to perform a steering operation.
The steering drive device 100 is described in detail below.
As shown in fig. 3, the steering drive apparatus 100 according to the embodiment of the present invention includes an electric motor 110 and a controller, the electric motor 110 being used to drive a steering mechanism of a vehicle for steering, and the controller being used to control the electric motor 110. Further, the steering drive device 100 is configured to: one motor 110 is respectively provided for each wheel of the vehicle so that the wheels are independently driven with respect to each other, and one controller is respectively provided for each motor 110. And, the steering driving apparatus 100 according to the embodiment of the present invention further includes a redundant controller for controlling the corresponding motor 110 in place of the failed controller when the controller fails.
Fig. 4 and 5 respectively show a steering drive device according to an exemplary embodiment of the present invention.
In one exemplary embodiment, as shown in fig. 4, the first exemplary controller 120A includes three controllers, i.e., three electronic control units (hereinafter, referred to as ECUs), an ECU1, an ECU2, and an ECU 3. Specifically, the ECU1 and the ECU2 are used to control one motor 110, respectively. Also, the motor 110 controlled by the ECU1 includes a set of windings, i.e., windings 11, 12, and 13, and the motor 110 controlled by the ECU2 includes a set of windings, i.e., windings 21, 22, and 23; and the ECU3 functions as a redundant controller, in other words, the ECU3 controls the corresponding motor 110 in place of the failed ECU1 when the ECU1 fails, or the ECU3 controls the corresponding motor 110 in place of the failed ECU2 when the ECU2 fails. For example, the ECU1 is used to control the motor 110 that drives the left front wheel for steering, the ECU2 is used to control the motor 110 that drives the right front wheel for steering, and the rear wheels are similarly configured, i.e., one redundant controller is provided for some of the plurality of controllers, as will be described in more detail below.
In another example embodiment, as shown in FIG. 5, the second example controller 120B includes three controllers, i.e., three electronic control units (hereinafter referred to as ECUs), an ECU1, an ECU2, and an ECU 3. Specifically, the ECU1 and the ECU2 are used to control one motor 110, respectively. Also, the motor 110 controlled by the ECU1 includes two sets of windings, i.e., the first set of windings 111, 121, and 131, and the second set of windings 112, 122, 132, and the motor 110 controlled by the ECU2 includes two sets of windings, i.e., the first set of windings 211, 221, and 231, the second set of windings 212, 222, 232; and the ECU3 functions as a redundant controller, in other words, the ECU3 controls the corresponding motor 110 in place of the failed ECU1 when the ECU1 fails, or the ECU3 controls the corresponding motor 110 in place of the failed ECU2 when the ECU2 fails. For example, the ECU1 is used to control the motor 110 that drives the left front wheel for steering, the ECU3 is used to control the motor 110 that drives the right front wheel for steering, and the rear wheels are similarly configured, i.e., one redundant controller is provided for some of the plurality of controllers. Further, in addition to providing a redundant controller, the present exemplary embodiment also provides a redundant winding to be operated by one of the first winding and the second winding of the motor 110 when the other one fails, to improve the reliability of the motor.
Therefore, in the steering drive device according to the present invention, one motor is respectively provided for each wheel of the vehicle so that the wheels are independently driven with respect to each other, and one controller is respectively provided for each motor, and a redundant controller is also provided for controlling the corresponding motor in place of the failed controller when the controller fails. Therefore, the steering driving device has the advantages of high steering capacity, high reliability and high safety.
The steering system 10 according to an embodiment of the present invention is described below with continued reference to fig. 3.
As shown in fig. 3, the steering mechanism of the steering system 10 includes a ball screw 300 and a transmission mechanism 200 provided between the steering drive device 100 and the ball screw 300, the steering drive device 100 being configured to be connected to the ball screw 300, the transmission mechanism 200 being for providing a desired gear ratio. According to an exemplary embodiment of the present invention, the transmission 200 is provided as a belt transmission. According to an exemplary embodiment of the present invention, the configuration of the wheels as shown in fig. 3 is performed for each wheel of the vehicle, that is, the motors include first, second, third, and fourth motors for front left, front right, rear left, and rear right wheels of the vehicle, respectively, and first, second, third, and fourth controllers for the first, second, third, and fourth motors, respectively, and the redundant controllers include first and second redundant controllers, and the first redundant controller is for the first and second controllers, and the second redundant controller is for the third and fourth controllers.
Fig. 6(a) -6 (e) schematically illustrate steering of the steering system 10 according to an embodiment of the present invention. As shown in fig. 6(a), four wheels of the vehicle are in a state of traveling straight by the driving of the motor 110 of the steering system 10. As shown in fig. 6(b), under the drive of the motor 110 of the steering system 10, the four wheels of the vehicle are steered to enter a state of turning left forward or turning left backward. As shown in fig. 6(c), the four wheels of the vehicle are steered to be in a stationary state by the driving of the motor 110 of the steering system 10. As shown in fig. 6(d), four wheels of the vehicle are steered to enter a crab-steering state by the driving of the motor 110 of the steering system 10. As shown in fig. 6(e), under the drive of the motor 110 of the steering system 10, the four wheels of the vehicle are oriented in the width direction of the vehicle, i.e., into a state of 90-degree steering. Therefore, the steering system according to the present invention has high steering capability.
The advantages described above with reference to the steering drive device of the invention are equally applicable to the steering system of the invention, i.e. the steering system according to the invention has the advantages of higher steering capacity, higher reliability and higher safety.
As described above, although the exemplary embodiments of the present invention have been described in the description with reference to the drawings, the present invention is not limited to the above-described embodiments, and the scope of the present invention should be defined by the claims and their equivalents.
Claims (10)
1. A steering drive device (100) for driving a vehicle to steer, comprising,
an electric motor (110) for driving a steering mechanism of the vehicle to steer;
a controller for controlling the electric motor (110);
it is characterized in that the preparation method is characterized in that,
the steering drive device (100) is configured to:
one of the electric motors (110) is respectively associated with each wheel of the vehicle so that the wheels are driven independently with respect to each other,
one of said controllers is associated with each of said motors (110), respectively, and
also included is a redundant controller for controlling the respective motor (110) in place of the failed controller when the controller fails.
2. The steering drive device (100) according to claim 1, wherein one of said redundant controllers is provided for a part of said controllers among said plurality of controllers.
3. The steering drive device (100) according to claim 2, wherein the motor (110) includes a first motor, a second motor, a third motor, and a fourth motor for a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel of the vehicle, respectively, and a first controller, a second controller, a third controller, and a fourth controller for the first motor, the second motor, the third motor, and the fourth motor, respectively.
4. The steering drive (100) of claim 3, wherein the redundant controllers comprise a first redundant controller and a second redundant controller, and wherein the first redundant controller is for the first controller and the second controller, and the second redundant controller is for the third controller and the fourth controller.
5. The steering drive (100) according to claim 1, wherein a first winding and a second winding are provided in the electric motor (110), and the second winding is used to replace the first winding when the first winding fails.
6. A steering system (10) for steering a vehicle and including a steering mechanism that performs an operation,
it is characterized in that the preparation method is characterized in that,
further comprising a steering drive (100) according to any of claims 1-5 for driving the steering mechanism to perform a steering operation.
7. The steering system according to claim 6, wherein the steering mechanism includes a ball screw (300), and the steering drive device (100) is configured to be connected to the ball screw (300).
8. The steering system according to claim 7, further comprising a transmission mechanism (200) provided between the steering drive device (100) and the ball screw (300).
9. Steering system according to claim 8, wherein the transmission (200) is provided as a belt transmission.
10. The steering system according to claim 9, wherein all wheels of the vehicle are orientable in a width direction of the vehicle via the steering drive (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010672659.7A CN111845922A (en) | 2020-07-14 | 2020-07-14 | Steering drive device and steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010672659.7A CN111845922A (en) | 2020-07-14 | 2020-07-14 | Steering drive device and steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111845922A true CN111845922A (en) | 2020-10-30 |
Family
ID=72984727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010672659.7A Pending CN111845922A (en) | 2020-07-14 | 2020-07-14 | Steering drive device and steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111845922A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320763A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance vehicle easy to operate and control method |
-
2020
- 2020-07-14 CN CN202010672659.7A patent/CN111845922A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320763A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance vehicle easy to operate and control method |
| CN115320763B (en) * | 2021-11-19 | 2024-06-07 | 钭俊龙 | Easy-to-operate two-wheeled electric balance car and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3752407B1 (en) | Method for providing steering assistance for an electromechanical steering system of a motor vehicle comprising a redundantly designed control device | |
| CN109850008B (en) | Dual-motor dual-power-supply steer-by-wire system and fault-tolerant control method thereof | |
| US11987296B2 (en) | Steering device | |
| CN109496189B (en) | Steer-by-wire system, motor vehicle and method for operating a steer-by-wire system | |
| DE102015213304A1 (en) | Electromechanical power steering | |
| CN111674458A (en) | Redundant mechanism steer-by-wire device and control method | |
| EP2149489B1 (en) | Vehicle steering gear | |
| WO2001072571A3 (en) | Vehicle steering system and axle guide module for a vehicle steering system | |
| JP2007210607A (en) | Vehicle electric steering device having triple redundancy | |
| CN105026246A (en) | Vehicle steering device | |
| CN104015787A (en) | Vehicle electric power steering contorl system | |
| CN104512458A (en) | Semi-decoupled steering system | |
| EP3810487A1 (en) | Steer-by-wire architectures having a second steering angle sensor | |
| US20040144592A1 (en) | Steer-by-wire system and method for actuating road wheels of a vehicle | |
| US20230040044A1 (en) | Degradation concept for a steer-by-wire steering system | |
| CN107914765B (en) | Vehicle steering system | |
| CN113548108A (en) | Vehicle steering device and vehicle | |
| CN114630785A (en) | Motor drive system | |
| CN111845922A (en) | Steering drive device and steering system | |
| US10800447B2 (en) | Steering system with multiple controllers | |
| CN104769299A (en) | Clutch device and steering device | |
| CN115397689A (en) | Vehicle drive unit and vehicle with vehicle drive unit | |
| JP4382345B2 (en) | Vehicle steering system | |
| US20230068424A1 (en) | Steering control device and method for vehicle | |
| Mir et al. | Role of electronics and controls in steering systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201030 |
|
| WD01 | Invention patent application deemed withdrawn after publication |