WO2021114566A1

WO2021114566A1 - Dual-power supply dual-winding motor steer-by-wire system and fault-tolerant control method therefor

Info

Publication number: WO2021114566A1
Application number: PCT/CN2020/090296
Authority: WO
Inventors: ***; 栾众楷; 赵万忠; 周长志; 高犇
Original assignee: 南京航空航天大学; 南京天航智能装备研究院有限公司
Priority date: 2019-12-11
Filing date: 2020-05-14
Publication date: 2021-06-17
Also published as: CN111038578A; CN111038578B

Abstract

A dual-power supply dual-winding motor steer-by-wire system and a fault-tolerant control method therefor. The system comprises: a steering wheel (1), a steering column assembly, a road sensing assembly, a dual-winding motor steering actuating device, a power supply fault-tolerant device (24), a main controller (26), and an electromagnetic clutch (6). The present invention has motor winding and power supply dual hardware redundancy functions; when a single winding fails, the other winding can be driven by the power supplies to complete a steering action; when a single power supply fails, the windings can be driven by the other power supply to complete a steering action; when both the windings and the power supplies fail, a steering action can still be completed by mechanical steering; thus, a complete loss of steering capability of a vehicle caused by power supply or winding failure is avoided, and the vehicle steering safety is enhanced.

Description

一种双源双绕组电机线控转向***及其容错控制方法A dual-source dual-winding motor wire-controlled steering system and its fault-tolerant control method

技术领域Technical field

本发明属于汽车转向***技术领域，具体指代一种双源双绕组电机线控转向***及其容错控制方法。The invention belongs to the technical field of automobile steering systems, and specifically refers to a dual-source dual-winding motor-by-wire steering system and a fault-tolerant control method thereof.

背景技术Background technique

随着交通事故的频繁发生，人们对汽车的行驶安全性越来越重视，而转向***对汽车的行驶安全至关重要；现有转向***通常进行冗余设计来提高转向***的可靠性，进而提高汽车的行驶安全性。With the frequent occurrence of traffic accidents, people are paying more and more attention to the driving safety of cars, and the steering system is very important to the driving safety of cars; the existing steering system is usually designed with redundancy to improve the reliability of the steering system, and then Improve the driving safety of the car.

现有双绕组电机液压助力转向技术中，中国发明专利申请号为CN201510946353.5中公开了一种双源电动液压助力转向***及其控制方法，在转向电机中设置一套高压绕组和一套低压绕组，当为高压绕组供电的高压电源不能正常工作时，可采用低压电源为低压绕组供电，使转向电机能够正常工作，从而保证电动液压转向***工作的可靠性；但是，上述技术中双绕组电机均采用单绕组工作模式，电机利用率低，而且液压助力转向存在能耗较大且响应速度不如电动转向等缺点。In the existing dual-winding motor hydraulic power steering technology, the Chinese invention patent application number CN201510946353.5 discloses a dual-source electro-hydraulic power steering system and its control method. A set of high-voltage windings and a set of low-voltage are set in the steering motor. Winding, when the high-voltage power supply for the high-voltage winding fails to work normally, the low-voltage power supply can be used to power the low-voltage winding so that the steering motor can work normally, thereby ensuring the reliability of the electro-hydraulic steering system; however, the double-winding motor in the above technology All adopt single-winding working mode, the motor utilization is low, and the hydraulic power steering has the disadvantages of high energy consumption and inferior response speed to electric power steering.

现有双电机线控转向***，在一个电机故障时，利用另一个电机进行转向，具有容错功能。例如：中国发明专利申请号为CN201711346835.2中公开了一种通过电机控制器将故障电机对应的电磁离合器分离的容错控制方法；中国发明专利申请号为CN20171134340.6的中公开了一种在线控转向机构故障时电磁离合器合上，电机反转使转向器小齿轮和转向器齿条完成转向的容错控制方法；但是，上述技术电机均采用单一电源供电，没有考虑电源发生故障的容错问题，一旦电源发生故障，两个电机均无法工作使驾驶员完全失去对车辆的控制，从而造成巨大的安全隐患。The existing dual-motor wire-controlled steering system uses another motor to perform steering when one motor fails, and has a fault-tolerant function. For example: Chinese invention patent application number CN201711346835.2 discloses a fault-tolerant control method for separating the electromagnetic clutch corresponding to a faulty motor through a motor controller; Chinese invention patent application number CN20171134340.6 discloses an online control method When the steering mechanism fails, the electromagnetic clutch is closed and the motor reverses to make the steering gear and the steering gear rack complete the steering fault-tolerant control method; however, the above-mentioned technical motors are powered by a single power source, and the fault-tolerant problem of power failure is not considered. The power supply fails, and the two motors are unable to work so that the driver completely loses control of the vehicle, thereby causing a huge safety hazard.

发明内容Summary of the invention

针对于上述现有技术的不足，本发明的目的在于提供一种双源双绕组电机线控转向***及其容错控制方法，以解决现有技术中难以实现转向***较高的电机利用率、较快的响应速度、较高的可靠性等性能的融合统一的问题。In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a dual-source dual-winding motor-by-wire steering system and its fault-tolerant control method, so as to solve the difficulties in the prior art to achieve higher motor utilization and higher motor utilization in the steering system. Fast response speed, higher reliability and other performance integration issues.

为达到上述目的，本发明采用的技术方案如下：In order to achieve the above objectives, the technical solutions adopted by the present invention are as follows:

本发明的一种双源双绕组电机线控转向***，包括：方向盘，转向管柱总成、路感总成、双绕组电机转向执行装置、电源容错装置、主控制器及电磁离合器；其中，A dual-source dual-winding motor-by-wire steering system of the present invention includes: a steering wheel, a steering column assembly, a road sensing assembly, a dual-winding motor steering actuator, a power supply fault-tolerant device, a main controller and an electromagnetic clutch; among them,

所述方向盘连接转向管柱总成，转向管柱总成包括：转角传感器、第一转向管柱及第一转矩传感器；方向盘输入的作用力经过第一转向管柱作用于路感总成上，第一转向管柱上分别固定安装第一转矩传感器和转角传感器；The steering wheel is connected to the steering column assembly, and the steering column assembly includes: a rotation angle sensor, a first steering column and a first torque sensor; the force input by the steering wheel acts on the road sensing assembly through the first steering column , The first torque sensor and the rotation angle sensor are respectively fixedly installed on the first steering column;

所述路感总成包括：路感电机、第二转矩传感器、及第一蜗轮蜗杆；路感电机的输出端经过第二转矩传感器与第一蜗轮蜗杆的蜗轮端连接，第一蜗轮蜗杆的蜗杆端固定在第一转向管柱上；路感电机输出的反馈力矩依次经过第一蜗轮蜗杆、第一转向管柱，传递至方向盘；The road sensing assembly includes: a road sensing motor, a second torque sensor, and a first worm gear; the output end of the road sensing motor is connected to the worm wheel end of the first worm gear through the second torque sensor, and the first worm gear The end of the worm is fixed on the first steering column; the feedback torque output by the road sense motor is transmitted to the steering wheel through the first worm gear and the first steering column in turn;

所述双绕组电机转向执行装置包括：双绕组电机模块、第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、转向横拉杆、转向梯形、转向车轮；The dual-winding motor steering actuator includes: a dual-winding motor module, a second worm gear, a second steering column, a ball screw, a steering tie rod, a steering trapezoid, and a steering wheel;

双绕组电机模块包括：定子铁芯、转子组件、机座、第一套绕组、第二套绕组、第一组电流传感器、第二组电流传感器、双绕组电机模块输出轴、转速传感器；The dual-winding motor module includes: stator core, rotor assembly, frame, first set of windings, second set of windings, first set of current sensors, second set of current sensors, dual-winding motor module output shaft, speed sensor;

第一套绕组包括A相绕组、B相绕组、C相绕组；第一组电流传感器包括第一电流传感器、第二电流传感器、第三电流传感器；第一电流传感器与A相绕组连接，第二电流传感器与B相绕组连接，第三电流传感器与C相绕组连接；The first set of windings includes A-phase windings, B-phase windings, and C-phase windings; the first set of current sensors includes a first current sensor, a second current sensor, and a third current sensor; the first current sensor is connected to the A-phase winding, and the second current sensor is connected to the A-phase winding. The current sensor is connected to the B-phase winding, and the third current sensor is connected to the C-phase winding;

第二套绕组包括a相绕组、b相绕组、c相绕组；第二组电流传感器包括第四电流传感器、第五电流传感器、第六电流传感器；第四电流传感器与a相绕组连接，第五电流传感器与b相绕组连接，第六电流传感器与c相绕组连接；The second set of windings includes a-phase windings, b-phase windings, and c-phase windings; the second set of current sensors includes a fourth current sensor, a fifth current sensor, and a sixth current sensor; the fourth current sensor is connected to the a-phase winding, and the fifth current sensor is connected to the a-phase winding. The current sensor is connected to the b-phase winding, and the sixth current sensor is connected to the c-phase winding;

定子铁芯上分布有定子槽，第一套绕组和第二套绕组的同一相绕组之间错开电角度30°嵌放在不同的定子槽中，定子铁芯固定在机座上；第一套绕组的输入端与第一组电流传感器连接，第二套绕组的输入端与第二组电流传感器连接；The stator core is distributed with stator slots. The first set of windings and the second set of windings of the same phase are embedded in different stator slots at an electrical angle of 30°. The stator core is fixed on the base; The input end of the winding is connected to the first group of current sensors, and the input end of the second set of windings is connected to the second group of current sensors;

转子组件包括：转子铁芯、转子绕组；转子绕组绕于转子铁芯上，转子铁芯固定在双绕组电机模块输出轴上；第一套绕组和第二套绕组同时进行工作，产生合成磁场，在转子绕组中产生感应电流，感应电流在磁场的作用下带动转子铁芯旋转，转子铁芯通过双绕组电机模块输出轴将转矩输出；转速传感器安装在双绕组电机输出轴上；The rotor assembly includes: a rotor core and a rotor winding; the rotor winding is wound on the rotor core, and the rotor core is fixed on the output shaft of the dual-winding motor module; the first set of windings and the second set of windings work at the same time to generate a synthetic magnetic field, Induction current is generated in the rotor winding, and the induced current drives the rotor core to rotate under the action of the magnetic field. The rotor core outputs torque through the output shaft of the dual winding motor module; the speed sensor is installed on the output shaft of the dual winding motor;

所述电源容错装置包括：电源控制器单元、第一电源单元、第二电源单元；电源控制器单元的输入端依次连接第一电源单元和第二电源单元，同时还与主控制器电气连接；电源控制器单元的输出端依次连接第一套绕组和第二套绕组；The power supply fault-tolerant device includes: a power supply controller unit, a first power supply unit, and a second power supply unit; the input ends of the power supply controller unit are sequentially connected to the first power supply unit and the second power supply unit, and are also electrically connected to the main controller; The output terminal of the power controller unit is sequentially connected to the first set of windings and the second set of windings;

所述主控制器的输入端通过车载通讯线路连接第一转矩传感器、第二转矩传感器、第一组电流传感器、第二组电流传感器、转角传感器、转速传感器及车辆其它状态单元；主控制器的输出端连接路感总成、电磁离合器和电源控制单元；The input end of the main controller is connected to the first torque sensor, the second torque sensor, the first group of current sensors, the second group of current sensors, the rotation angle sensor, the speed sensor and other vehicle status units through the vehicle communication line; the main control The output end of the converter is connected to the road sensor assembly, electromagnetic clutch and power control unit;

所述电磁离合器包括：衔铁、主动轴、从动轴、电磁铁及摩擦片组；主动轴沿轴向固定在第一转向管柱上，从动轴沿轴向固定在第二转向管柱上，衔铁套于主动轴上，可轴向移动，电磁铁固定在主动轴上，摩擦片组固定在从动轴上，电磁铁位于衔铁与摩擦片组之间；主控制器输出的电磁离合器控制信号来控制线圈的通断电，进而控制电磁离合器的结合与分离。The electromagnetic clutch includes an armature, a driving shaft, a driven shaft, an electromagnet, and a friction plate group; the driving shaft is fixed on the first steering column in the axial direction, and the driven shaft is fixed on the second steering column in the axial direction , The armature is sleeved on the driving shaft and can move axially, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is located between the armature and the friction plate group; the electromagnetic clutch controlled by the main controller The signal controls the on and off of the coil, and then controls the coupling and disengagement of the electromagnetic clutch.

进一步地，双绕组电机模块输出端依次通过转速传感器、第二蜗轮蜗杆、第二转向管柱连接到滚珠丝杆的螺母；滚珠丝杆的丝杆端将转向横拉杆打断，滚珠丝杆两端与转向横拉杆被打断的两个端口轴向固定连接；双绕组电机输出的旋转运动经第二蜗轮蜗杆转换为第二转向管柱的旋转运动，第二转向管柱的旋转运动又经过滚珠丝杆转换为转向横拉杆的位移运动，转向横拉杆的位移运动通过转向梯形和转向车轮完成转向动作。Further, the output end of the dual-winding motor module is connected to the nut of the ball screw through the speed sensor, the second worm gear, and the second steering column in sequence; the screw end of the ball screw interrupts the steering tie rod, and the two ball screws The end and the two ports where the steering tie rod is broken are axially fixedly connected; the rotary motion output by the dual-winding motor is converted into the rotary motion of the second steering column by the second worm gear, and the rotary motion of the second steering column passes through The ball screw is converted into the displacement movement of the steering tie rod, and the displacement motion of the steering tie rod completes the steering action through the steering trapezoid and the steering wheels.

进一步地，所述双绕组电机模块为无刷直流电机。Further, the dual-winding motor module is a brushless DC motor.

进一步地，所述第一组电流传感器、第二组电流传感器为霍尔电流传感器。Further, the first group of current sensors and the second group of current sensors are Hall current sensors.

进一步地，所述电源控制器单元包括：继电器控制器、第一继电器及第二继电器；继电器控制器的输入端依次连接第一电源单元、第二电源单元、主控制器，继电器控制器的输出端依次连接第一继电器、第二继电器；第一电源单元的输出电路与第一继电器的a、b触点连接，第一继电器的触点e、f输出电路经过第一组电流传感器与第一套绕组连接，第一继电器的触点g、h输出电路第二继电器的触点i、j连接；第二电源单元的输出电路分为两个并联支路，第一个支路与第一继电器的触点c、d连接，第二个支路与第二继电器的k、l触点连接，第二继电器的触点m、n输出电路经过第二组电流传感器与第二套绕组连接。Further, the power supply controller unit includes: a relay controller, a first relay, and a second relay; the input terminals of the relay controller are sequentially connected to the first power supply unit, the second power supply unit, and the main controller, and the output of the relay controller Terminals are connected to the first relay and the second relay in turn; the output circuit of the first power supply unit is connected to the a and b contacts of the first relay, and the contact e and f output circuits of the first relay pass through the first group of current sensors and the first Set of winding connections, the contacts g and h of the first relay are connected to the contacts i and j of the second relay; the output circuit of the second power supply unit is divided into two parallel branches, the first branch and the first relay The contacts c and d are connected, the second branch is connected to the k and l contacts of the second relay, and the contact m and n output circuits of the second relay are connected to the second set of windings through the second set of current sensors.

进一步地，所述第一电源单元包括第一电源、第一电压传感器；第二电源单元包括第二电源、第二电压传感器；第一电源输出端经过第一电压传感器与继电器控制器连接；第二电源输出端经过第二电压传感器与继电器控制器连接。Further, the first power supply unit includes a first power supply and a first voltage sensor; the second power supply unit includes a second power supply and a second voltage sensor; the first power supply output terminal is connected to the relay controller through the first voltage sensor; The output terminal of the second power supply is connected with the relay controller through the second voltage sensor.

进一步地，所述第一电压传感器、第二电压传感器均为霍尔电压传感器。Further, the first voltage sensor and the second voltage sensor are both Hall voltage sensors.

进一步地，所述车辆其它状态单元包括：车速传感器、横摆角速度传感器；主控制器的输入端与车辆其它状态单元通过车载通讯线路连接，获取车速和横摆角速度。Further, the other state units of the vehicle include: a vehicle speed sensor and a yaw rate sensor; the input terminal of the main controller is connected with other state units of the vehicle through a vehicle-mounted communication line to obtain the vehicle speed and the yaw rate.

进一步地，所述电磁铁包括衔铁、线圈、磁轭；线控转向正常时，线圈不通电，磁轭与衔铁分离，摩擦片组不传递转矩，电磁离合器分离；线控转向失效时，线圈通电，磁轭吸合衔铁，将摩擦片组压紧，摩擦片组通过摩擦力传递转矩，电磁离合器结合；方向盘的转矩通过第一转向管柱、电磁离合器、第二转向管柱传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。Further, the electromagnet includes an armature, a coil, and a magnetic yoke; when the steer-by-wire is normal, the coil is not energized, the yoke is separated from the armature, the friction plate group does not transmit torque, and the electromagnetic clutch is separated; when the steer-by-wire fails, the coil Power on, the yoke attracts the armature to compress the friction plate group, the friction plate group transmits torque through friction, and the electromagnetic clutch is combined; the torque of the steering wheel is transmitted to the first steering column, the electromagnetic clutch, and the second steering column. The steering tie rod, the steering trapezoid and the steering wheel complete the steering action.

本发明的一种双源双绕组电机线控转向***的容错控制方法，基于上述***，包括以下步骤：The fault-tolerant control method of a dual-source dual-winding motor-by-wire steering system of the present invention is based on the above system and includes the following steps:

1)根据车辆驾驶情况，输入一个方向盘转角；1) According to the driving situation of the vehicle, input a steering wheel angle;

2)主控制器接收转角信号，第一转矩信号，第二转矩信号，转速信号，第一组电流信号，第二组电流信号，车速信号及横摆角速度信号，计算出双绕组电机模块所需提供的转向助力的大小及路感电机需要的反馈力矩的大小，并判断是否要启动电磁离合器以及输出电磁离合器控制信号，同时，向电源控制器单元输出主控制电源控制信号以及向路感电机输出路感电机控制信号；2) The main controller receives the rotation angle signal, the first torque signal, the second torque signal, the speed signal, the first group of current signals, the second group of current signals, the vehicle speed signal and the yaw rate signal, and calculates the dual winding motor module The magnitude of the steering assistance needed and the feedback torque required by the road sense motor, and determine whether to start the electromagnetic clutch and output the electromagnetic clutch control signal, and at the same time, output the main control power control signal and the road sense to the power controller unit Motor output road sense motor control signal;

3)电源控制器单元分别接收第一电源单元输出信号、第二电源单元输出信号以及主控制器电源控制信号，继电控制器输出第一套绕组控制信号和第二套绕组控制信号，控制第一继电器和第二继电器进行供电模式的选择；3) The power supply controller unit receives the output signal of the first power supply unit, the output signal of the second power supply unit and the power control signal of the main controller respectively, and the relay controller outputs the first set of winding control signals and the second set of winding control signals to control the first set of winding control signals and the second set of winding control signals. A relay and a second relay select the power supply mode;

4)双绕组电机模块输出的转向力矩经过第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、转向横拉杆和转向梯形传递给转向车轮，完成车轮转向操作；路感电机输出的路感反馈力矩经过第一蜗轮蜗杆、第一转向管柱和方向盘传递给驾驶员，完成路感反馈操作。4) The steering torque output by the dual-winding motor module is transmitted to the steering wheels through the second worm gear, the second steering column, the ball screw, the steering tie rod and the steering trapezoid to complete the wheel steering operation; the road feeling feedback output by the road feeling motor The torque is transmitted to the driver through the first worm gear, the first steering column and the steering wheel to complete the road feel feedback operation.

进一步地，所述步骤3)中的供电模式的选择具体包括以下步骤：Further, the selection of the power supply mode in step 3) specifically includes the following steps:

31)主控制器根据第一组电流传感器和第二组电流传感器的输出信号，判断第一套绕组和第二套绕组是否正常工作，并输出包含第一套绕组和第二套绕组工作状态的主控制器电源控制信号；电源控制器单元接收第一电源单元和第二电源单元输出的信号，判断第一电源和第二电源的工作状态，并接收主控制器电源控制信号，得到第一套绕组和第二套绕组的工作状态；继电器控制器通过各绕组和电源的工作状态，控制第一继电器和第二继电器选择相应的供电模式；31) The main controller judges whether the first set of windings and the second set of windings are working normally according to the output signals of the first set of current sensors and the second set of current sensors, and outputs information including the working status of the first set of windings and the second set of windings. The main controller power supply control signal; the power supply controller unit receives the signals output by the first power supply unit and the second power supply unit, judges the working status of the first power supply and the second power supply, and receives the main controller power supply control signal to obtain the first set The working status of the windings and the second set of windings; the relay controller controls the first relay and the second relay to select the corresponding power supply mode through the working status of each winding and the power supply;

32)若第一套绕组、第二套绕组、第一电源、第二电源均正常工作，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第一电源单元给第一绕组供电，第二继电器的触点k连接触点m，触点l连接触点n，第二电源给第二套绕组供电，转向***正常工作；32) If the first set of windings, the second set of windings, the first power supply, and the second power supply are all working normally, the power supply controller unit outputs the first set of winding control signals and the second set of winding control signals, and the contact point of the first relay is a Connect contact e, contact b is connected to contact f, the first power supply unit supplies power to the first winding, contact k of the second relay is connected to contact m, contact l is connected to contact n, and the second power supply is supplied to the second set Winding power supply, the steering system works normally;

33)若第一电源出现故障，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器触点c连接触点e，触点d连接触点f，第二继电器触点k连接触点m，触点l连接触点n，第二电源同时给第一套绕组和第二套绕组供电，电源控制器单元向驾驶员发出故障警告；33) If the first power supply fails, the power controller unit outputs the first set of winding control signals and the second set of winding control signals, the first relay contact c is connected to contact e, contact d is connected to contact f, and the second relay Contact k is connected to contact m, and contact l is connected to contact n. The second power supply supplies power to the first set of windings and the second set of windings at the same time, and the power controller unit issues a fault warning to the driver;

34)若第二电源出现故障，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，第一电源同时给第一套绕组和第二套绕组供电，电源控制器单元向驾驶员发出故障警告；34) If the second power supply fails, the power controller unit outputs the first set of winding control signals and the second set of winding control signals. The first relay contact a is connected to the contact e, the contact b is connected to the contact f, and the contact a Connect contact g, contact b connects contact h, second relay contact i connects contact m, and contact j connects contact n. The first power supply supplies power to the first set of windings and the second set of windings at the same time. Power control The device unit issues a fault warning to the driver;

35)若第一套绕组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第一继电器触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，触点k连接触点m，触点l连接触点n，第一电源和第二电源同时给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；35) If the first set of windings fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The first relay contact a is connected to the contact g, and the contact b is connected to the contact h , The second relay contact i is connected to the contact m, the contact j is connected to the contact n, the contact k is connected to the contact m, and the contact l is connected to the contact n. The first power supply and the second power supply supply power to the second set of windings at the same time , The first set of windings is suspended, and the power controller unit issues a fault warning to the driver;

36)若第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，触点c连接触点g，触点d连接触点h，第一电源和第二电源同时给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；36) If the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact a is connected to the contact e, and the contact b is connected to the contact f , Contact c is connected to contact g, and contact d is connected to contact h. The first power supply and the second power supply supply power to the first set of windings at the same time, the second set of windings are suspended, and the power controller unit issues a fault warning to the driver;

37)若第一电源出现故障且第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点c连接触点e，触点d连接触点f，第二电源给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；37) If the first power supply fails and the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact c is connected to the contact e, Point d is connected to contact f, the second power supply supplies power to the first set of windings, and the second set of windings is suspended, and the power controller unit issues a fault warning to the driver;

38)若第二电源出现故障且第一绕组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第一继电器触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，第一电源给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；38) If the second power supply fails and the first winding fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The first relay contact a is connected to the contact g, and the contact b is connected to contact h, the second relay contact i is connected to contact m, and contact j is connected to contact n. The first power supply supplies power to the second set of windings, and the first set of windings are suspended, and the power controller unit sends a message to the driver Fault warning

39)若第一电源出现故障且第一绕套组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第二继电器触点k连接触点m，触点l连接触点n，第二电源给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；39) If the first power supply fails and the first winding set fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The second relay contact k is connected to the contact m, Contact l is connected to contact n, the second power supply supplies power to the second set of windings, the first set of windings is suspended, and the power controller unit issues a fault warning to the driver;

40)若第二电源出现故障且第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，第一电源给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；40) If the second power source fails and the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact a is connected to the contact e, Point b is connected to contact f, the first power supply supplies power to the first set of windings, the second set of windings suspends work, and the power controller unit issues a fault warning to the driver;

41)若两个电源或两套绕组同时出现故障，电源控制器单元停止输出第一套绕组控制信号和第二套绕组控制信号，第一继电器和第二继电器均断开，第一套绕组和第二套绕组暂停工作；主控制器输出电磁离合器控制信号，电磁离合器结合，电源控制器单元向驾驶员发出故障警告，并提示驾驶员进行紧急制动操作。41) If two power supplies or two sets of windings fail at the same time, the power controller unit stops outputting the first set of winding control signals and the second set of winding control signals, the first relay and the second relay are both disconnected, and the first set of windings and The second set of windings is suspended; the main controller outputs the electromagnetic clutch control signal, the electromagnetic clutch is combined, and the power controller unit issues a fault warning to the driver and prompts the driver to perform an emergency braking operation.

进一步地，所述步骤31)中的绕组故障的诊断具体包括以下步骤：Further, the diagnosis of winding fault in step 31) specifically includes the following steps:

311)将采集到的A相电流i ₁、B相电流i ₂、C相电流i ₃、a相电流i ₄、b相电流i ₅、c相电流i ₆分别代入各相开路电流诊断方程处理得到各相的开路电流诊断值i _m，各相开路电流诊断方程如下： 311) Substitute the collected A-phase current i ₁ , B-phase current i ₂ , C-phase current i ₃ , a-phase current i ₄ , b-phase current i ₅ , and c-phase current i ₆ into each phase open-circuit current diagnosis equation for processing. The open circuit current diagnosis value i _m of each phase is obtained, and the open circuit current diagnosis equation of each phase is as follows:

式中，t ₁、t ₂分别为采样的起始时间点，T _s为采样周期，n为经历的采样周期的个数，这里选取n＝20，m＝1，2，3，4，5，6； In the formula, t ₁ and t ₂ are the starting time points _{of sampling, T s} is the sampling period, and n is the number of sampling periods experienced. Here, n = 20, m = 1, 2, 3, 4, 5 , 6;

312)将处理得到的各相开路电流诊断值，代入开路故障诊断方程，得到各相绕组是否出现开路的表示值，开路诊断方程为：312) Substituting the processed open-circuit current diagnostic value of each phase into the open-circuit fault diagnosis equation to obtain an indication of whether each phase winding has an open circuit. The open-circuit diagnosis equation is:

式中，K _m为各相绕组是否出现开路故障的表示值，1表示出现开路，0表示正常；I ₀为开路电流诊断阀值，取I ₀为绕组额定电流的3％；ω _r为双源双绕组电机转子机械角速度； In the formula, K _m is the value indicating whether there is an open circuit fault in each phase winding, 1 means open circuit, 0 means normal; I ₀ is the open circuit current diagnostic threshold, and I ₀ is 3% of the winding rated current; ω _r is double Rotor mechanical angular velocity of source dual-winding motor;

313)将采集到的电流A相电流i ₁、B相电流i ₂、C相电流i ₃、a相电流i ₄、b相电流i ₅、c相电流i ₆分别代入各相短路电流诊断方程处理得到各相的电流诊断值d _m： 313) Substitute the collected current A-phase current i ₁ , B-phase current i ₂ , C-phase current i ₃ , a-phase current i ₄ , b-phase current i ₅ , and c-phase current i ₆ into the short-circuit current diagnosis equations of each phase. _{The current diagnosis value d m of} each phase is obtained by processing:

式中，d _m为各相短路电流的诊断值，I _N为各相绕组额定电流的峰值，i _m为各相开路电流诊断值，t ₁、t ₂分别为采样的起始时间点，T _s为采样周期，n为经历的采样周期的个数，这里选取n＝20，m＝1，2，3，4，5，6； Wherein, d _m is the diagnostic value of each phase of the short-circuit current, I _N is the peak rated current in each phase winding, i _m is the diagnostic value of each phase of the off current, t _1, t ₂ are sampling start time point, T _s is the sampling period, n is the number of sampling periods experienced, here n=20, m=1, 2, 3, 4, 5, 6;

314)将处理得到的各相短路电流诊断值，代入短路故障诊断方程，得到各相绕组是否出现短路的表示值，短路诊断方程为：314) Substituting the processed short-circuit current diagnostic value of each phase into the short-circuit fault diagnosis equation to obtain the value indicating whether the winding of each phase is short-circuited. The short-circuit diagnosis equation is:

式中，K _m为各相绕组是否出现短路故障的表示值，1表示出现短路，0表示正常；K ₀为短路诊断阀值，这里K ₀＝4，t _D为双源双绕组电机的运行时间，t ₀为双源双绕组电机的正常启动时间； In the formula, K _m is the value indicating whether there is a short circuit fault in each phase winding, 1 means short circuit, 0 means normal; K ₀ is the short circuit diagnostic threshold, where K ₀ ＝4, t _D is the operation of the dual-source dual-winding motor Time, t ₀ is the normal starting time of the dual-source dual-winding motor;

315)根据处理得到的各相绕组是否出现开路、短路的的表示值，代入故障处理方程得到故障时应断开那一套绕组故障的表示值，其故障处理方程为：315) According to the indicated values of whether the windings of each phase are open or short, substituted into the fault handling equation to obtain the indicated value of the set of winding faults that should be disconnected when the fault occurs. The fault handling equation is:

式中，S ₁为是否断开第一套绕组的表示值，S ₂为是否应断开第二套绕组的表示值，值为1表示应该断开，为0表示不断开； In the formula, S ₁ is the value indicating whether the first set of windings _{should be disconnected, S 2} is the value indicating whether the second set of windings should be disconnected, a value of 1 means it should be disconnected, and a value of 0 means no disconnection;

316)主控制器根据S ₁和S ₂的值判断第一套绕组和第二套绕组是否正常工作，从而向电源控制器单元输出电源控制信号。 316) operates according to the master controller whether the values S ₁ and S ₂ determines the first set and second sets of coil windings normal, so that the power supply control unit outputs a power control signal.

进一步地，所述步骤31)中的电源故障的诊断具体包括以下步骤：Further, the power failure diagnosis in step 31) specifically includes the following steps:

317)将采集到的电压第一电源电压u ₁、第二电源电压u ₂分别代入各电源电压诊断方程处理得到各电源电压诊断值u _m，各电源电压诊断方程如下： 317) Substitute the collected voltages, the first power supply voltage u ₁ and the second power supply voltage u ₂ , into the power supply voltage diagnosis equations to process to obtain the power supply voltage diagnosis values u _m , and the power supply voltage diagnosis equations are as follows:

式中，t ₁、t ₂分别为采样的起始时间点，T _s为采样周期，n为经历的采样周期的个数，这里选取n＝20，m＝1，2； In the formula, t ₁ and t ₂ are respectively the starting time point _{of sampling, T s} is the sampling period, and n is the number of sampling periods experienced, where n=20, m=1, 2 are selected;

318)将处理得到的各电源电压诊断值，代入电源故障诊断方程，得到电源是否出现故障的表示值，电源故障诊断方程为：318) Substituting the power supply voltage diagnosis values obtained by the processing into the power supply fault diagnosis equation to obtain the indication value of whether the power supply fails. The power supply fault diagnosis equation is:

式中，B _m为各电源是否出现故障的表示值，1表示出现故障，0表示正常；U ₀为故障电压诊断阀值，取U ₀为电源额定电压的95％；ω _r为双源双绕组电机转子机械角速度； In the formula, B _m is the value indicating whether each power supply is faulty, 1 means fault, 0 means normal; U ₀ is the fault voltage diagnosis threshold, and U ₀ is 95% of the power supply's rated voltage; ω _r is dual-source dual The mechanical angular velocity of the rotor of the winding motor;

319)继电器控制器根据B ₁和B ₂的值判断第一电源和第二电源的工作状态，控制第一继电器和第二继电器选择相应的供电模式。 319) The relay controller _{judges the working status of the first power source and the second power source according to the values of B 1} and B ₂ , and controls the first relay and the second relay to select the corresponding power supply mode.

本发明的有益效果：The beneficial effects of the present invention:

本发明具备了电机助力转向的功能，能耗更低，响应速度更快，并且采用第一套绕组和第二套绕组的同一相绕组之间需要错开电角度30°嵌放在不同的定子槽中的布置方式和两套绕组同时工作的电机工作模式，减少了两套绕组之间的互相干扰，转矩合成效果更好，电机利用率更高。The invention has the function of motor power steering, lower energy consumption, faster response speed, and the same phase windings of the first set of windings and the second set of windings need to be staggered in electrical angles of 30° and embedded in different stator slots. The arrangement mode in the middle and the working mode of the motor in which two sets of windings work at the same time reduce the mutual interference between the two sets of windings, the torque synthesis effect is better, and the motor utilization rate is higher.

本发明具备电机绕组、电源双重硬件冗余功能，单个绕组出现故障，可以由另一个绕组在电源驱动下完成转向动作；单个电源出现故障，可以由另一个电源驱动绕组完成转向动作；当绕组和电源均出现故障，仍可通过机械转向完成转向动作；避免电源或绕组故障导致车辆完全丧失转向能力，增强了车辆转向安全性。The invention has dual hardware redundancy functions for motor windings and power supply. When a single winding fails, another winding can complete the steering action under the drive of the power supply; when a single power supply fails, the winding can be driven by another power supply to complete the steering action; If the power supply fails, the steering action can still be completed through mechanical steering; it avoids the complete loss of the vehicle's steering ability due to the power supply or winding failure, which enhances the vehicle's steering safety.

本发明的容错控制方法，具备多种供电模式，并能够根据绕组和电源故障情况进行快速切换，最大程度保证转向***供电模块的安全性和可靠性。The fault-tolerant control method of the present invention has multiple power supply modes, and can quickly switch according to the winding and power failure conditions, so as to ensure the safety and reliability of the power supply module of the steering system to the greatest extent.

附图说明Description of the drawings

图1为本发明的原理结构框图；Figure 1 is a block diagram of the principle structure of the present invention;

图2为本发明供电模式切换原理图；Figure 2 is a schematic diagram of switching power supply modes of the present invention;

图3为本发明容错控制方法流程图；Figure 3 is a flow chart of the fault-tolerant control method of the present invention;

图中，1-方向盘，2-转角传感器，3-第一转向管柱，4-第一转矩传感器，5-第一蜗轮蜗杆，6-电磁离合器，7-第一组电流传感器，8-转速传感器,9-第二蜗轮蜗杆，10-第二转向管柱，11-转向车轮，12-转向梯形，13-转向横拉杆，14-螺母，15-滚珠丝杆，16-双绕组电机模块输出轴，17-双绕组电机模块，18-第二套绕组，19-第一套绕组，20-第二组电流传感器，21-电源控制器单元，22-第二电源单元，23-第一电源单元，24-电源容错装置，25-车辆其他状态单元，26-主控制器，27-路感电机，28-第二转矩传感器；In the figure, 1-steering wheel, 2-rotation angle sensor, 3-first steering column, 4-first torque sensor, 5-first worm gear, 6-electromagnetic clutch, 7-first group current sensor, 8- Speed sensor, 9-second worm gear, 10-second steering column, 11-steering wheel, 12-steering trapezoid, 13-steering tie rod, 14-nut, 15-ball screw, 16-double winding motor module Output shaft, 17-double winding motor module, 18-second set of windings, 19-first set of windings, 20-second set of current sensors, 21-power controller unit, 22-second power supply unit, 23-first Power supply unit, 24-power fault-tolerant device, 25-other vehicle status unit, 26-main controller, 27-road sensor motor, 28-second torque sensor;

A-转角信号，B-第一转矩信号，C-第二转矩信号，D-转速信号，E-第一组电流信号，F- 第二组电流信号，G-第一套绕组控制信号，H-第二套绕组控制信号，I-第一电源单元信号，J-第二电源单元信号，K-电源控制信号，L-路感电机控制信号，M-电磁离合器控制信号，N-车速信号，P-横摆角速度信号。A-rotation angle signal, B-first torque signal, C-second torque signal, D-speed signal, E-first group current signal, F-second group current signal, G-first set of winding control signal , H-second set of winding control signals, I-first power supply unit signal, J-second power supply unit signal, K-power supply control signal, L-path induction motor control signal, M-electromagnetic clutch control signal, N-vehicle speed Signal, P-yaw rate signal.

具体实施方式Detailed ways

为了便于本领域技术人员的理解，下面结合实施例与附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and the accompanying drawings, and the content mentioned in the embodiments does not limit the present invention.

参照图1、图2所示，本发明的一种双源双绕组电机线控转向***，包括：方向盘1，转向管柱总成、路感总成、双绕组电机转向执行装置、电源容错装置24、主控制器26及电磁离合器6；其中，Referring to Figure 1 and Figure 2, a dual-source dual-winding motor-by-wire steering system of the present invention includes: steering wheel 1, steering column assembly, road sensing assembly, dual-winding motor steering actuator, power supply fault tolerance device 24. The main controller 26 and the electromagnetic clutch 6; among them,

所述方向盘连接转向管柱总成，转向管柱总成包括：转角传感器2、第一转向管柱3及第一转矩传感器4；方向盘输入的作用力经过第一转向管柱3作用于路感总成上，第一转向管柱3上分别固定安装第一转矩传感器4和转角传感器2；The steering wheel is connected to the steering column assembly, and the steering column assembly includes: a rotation angle sensor 2, a first steering column 3, and a first torque sensor 4; the force input by the steering wheel acts on the road through the first steering column 3 On the sensor assembly, the first torque sensor 4 and the rotation angle sensor 2 are respectively fixedly installed on the first steering column 3;

所述路感总成包括：路感电机27、第二转矩传感器28及第一蜗轮蜗杆5；路感电机27的输出端经过第二转矩传感器28与第一蜗轮蜗杆5的蜗轮端连接，第一蜗轮蜗杆5的蜗杆端固定在第一转向管柱3上；路感电机27输出的反馈力矩依次经过第一蜗轮蜗杆5、第一转向管柱3，传递至方向盘1；The road sensing assembly includes: a road sensing motor 27, a second torque sensor 28, and a first worm gear 5; the output end of the road sensing motor 27 is connected to the worm gear end of the first worm gear 5 through the second torque sensor 28 , The worm end of the first worm gear 5 is fixed on the first steering column 3; the feedback torque output by the road sense motor 27 is transmitted to the steering wheel 1 through the first worm gear 5 and the first steering column 3 in turn;

所述双绕组电机转向执行装置包括：双绕组电机模块17、第二蜗轮蜗杆9、第二转向管柱10、滚珠丝杆15、转向横拉杆13、转向梯形12、转向车轮11；The dual-winding motor steering actuator includes: a dual-winding motor module 17, a second worm gear 9, a second steering column 10, a ball screw 15, a steering tie rod 13, a steering trapezoid 12, and steering wheels 11;

双绕组电机模块17包括：定子铁芯、转子组件、机座、第一套绕组19、第二套绕组18、第一组电流传感器7、第二组电流传感器20、双绕组电机模块输出轴16、转速传感器8；The dual winding motor module 17 includes: a stator core, a rotor assembly, a frame, a first set of windings 19, a second set of windings 18, a first set of current sensors 7, a second set of current sensors 20, and a dual winding motor module output shaft 16. , Speed sensor 8;

第一套绕组19包括A相绕组、B相绕组、C相绕组；第一组电流传感器包括第一电流传感器、第二电流传感器、第三电流传感器；第一电流传感器与A相绕组连接，第二电流传感器与B相绕组连接，第三电流传感器与C相绕组连接；The first set of windings 19 includes A-phase windings, B-phase windings, and C-phase windings; the first set of current sensors includes a first current sensor, a second current sensor, and a third current sensor; the first current sensor is connected to the A-phase winding, and the first current sensor is connected to the A-phase winding. The second current sensor is connected to the B-phase winding, and the third current sensor is connected to the C-phase winding;

第二套绕组18包括a相绕组、b相绕组、c相绕组；第二组电流传感器包括第四电流传感器、第五电流传感器、第六电流传感器；第四电流传感器与a相绕组连接，第五电流传感器与b相绕组连接，第六电流传感器与c相绕组连接；The second set of windings 18 includes a-phase windings, b-phase windings, and c-phase windings; the second set of current sensors includes a fourth current sensor, a fifth current sensor, and a sixth current sensor; the fourth current sensor is connected to the a-phase winding, and the fourth current sensor is connected to the a-phase winding. The five current sensor is connected to the b-phase winding, and the sixth current sensor is connected to the c-phase winding;

转子组件包括：转子铁芯、转子绕组；转子绕组绕于转子铁芯上，转子铁芯固定在双绕组电机模块输出轴16上；第一套绕组和第二套绕组同时进行工作，产生合成磁场，在转子绕组中产生感应电流，感应电流在磁场的作用下带动转子铁芯旋转，转子铁芯通过双绕组电机模块输出轴16将转矩输出；The rotor assembly includes: a rotor core and a rotor winding; the rotor winding is wound on the rotor core, and the rotor core is fixed on the output shaft 16 of the dual winding motor module; the first set of windings and the second set of windings work at the same time to generate a synthetic magnetic field , An induced current is generated in the rotor winding, the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs torque through the output shaft 16 of the dual winding motor module;

双绕组电机输出端依次通过转速传感器8、第二蜗轮蜗杆9、第二转向管柱10连接到滚珠丝杆15的螺母14；滚珠丝杆15的丝杆端将转向横拉杆13打断，滚珠丝杆15两端与转向横拉杆13被打断的两个端口轴向固定连接；双绕组电机输出的旋转运动经第二蜗轮蜗杆转换为第二转向管柱的旋转运动，第二转向管柱10的旋转运动又经过滚珠丝杆15转换为转向横拉杆13的位移运动，转向横拉杆13的位移运动通过转向梯形12和转向车轮11完成转向动作。The output end of the dual-winding motor is connected to the nut 14 of the ball screw 15 through the speed sensor 8, the second worm gear 9, and the second steering column 10 in turn; the screw end of the ball screw 15 breaks the steering tie rod 13 and the ball The two ends of the screw rod 15 are axially fixedly connected with the two broken ports of the steering tie rod 13; the rotary motion output by the dual-winding motor is converted into the rotary motion of the second steering column by the second worm gear, and the second steering column The rotating motion of 10 is converted into the displacement motion of the steering tie rod 13 by the ball screw 15, and the displacement motion of the steering tie rod 13 completes the steering motion through the steering trapezoid 12 and the steering wheels 11.

所述电源容错装置24包括：电源控制器单元21、第一电源单元23、第二电源单元22；电源控制器单元21的输入端依次连接第一电源单元23和第二电源单元22，同时还与主控制器26电气连接；电源控制器单元21的输出端依次连接第一套绕组19和第二套绕组18；The power supply fault-tolerant device 24 includes: a power supply controller unit 21, a first power supply unit 23, and a second power supply unit 22; the input end of the power supply controller unit 21 is sequentially connected to the first power supply unit 23 and the second power supply unit 22, and also Electrically connected to the main controller 26; the output terminal of the power controller unit 21 is connected to the first set of windings 19 and the second set of windings 18 in turn;

所述电源控制器单元包括：继电器控制器、第一继电器及第二继电器；继电器控制器的输入端依次连接第一电源单元、第二电源单元、主控制器，继电器控制器的输出端依次连接第一继电器、第二继电器；第一电源单元的输出电路与第一继电器的a、b触点连接，第一继电器的触点e、f输出电路经过第一组电流传感器与第一套绕组连接，第一继电器的触点g、h输出电路第二继电器的触点i、j连接；第二电源单元的输出电路分为两个并联支路，第一个支路与第一继电器的触点c、d连接，第二个支路与第二继电器的k、l触点连接，第二继电器的触点m、n输出电路经过第二组电流传感器与第二套绕组连接；The power supply controller unit includes: a relay controller, a first relay, and a second relay; the input terminals of the relay controller are connected to the first power supply unit, the second power supply unit, and the main controller in sequence, and the output terminals of the relay controller are connected in sequence The first relay, the second relay; the output circuit of the first power supply unit is connected to the a and b contacts of the first relay, and the contact e and f output circuits of the first relay are connected to the first set of windings through the first set of current sensors , The contacts g and h of the first relay output circuit are connected to the contacts i and j of the second relay; the output circuit of the second power supply unit is divided into two parallel branches, the first branch is connected to the contacts of the first relay c and d are connected, the second branch is connected to the k and l contacts of the second relay, and the contact m and n output circuits of the second relay are connected to the second set of windings through the second set of current sensors;

所述第一电源单元包括第一电源、第一电压传感器；第二电源单元包括第二电源、第二电压传感器；第一电源输出端经过第一电压传感器与继电器控制器连接；第二电源输出端经过第二电压传感器与继电器控制器连接；The first power supply unit includes a first power supply and a first voltage sensor; the second power supply unit includes a second power supply and a second voltage sensor; the first power supply output terminal is connected to the relay controller through the first voltage sensor; the second power supply output The terminal is connected to the relay controller through the second voltage sensor;

所述第一电压传感器、第二电压传感器均为霍尔电压传感器。The first voltage sensor and the second voltage sensor are both Hall voltage sensors.

所述主控制器26的输入端通过车载通讯线路连接第一转矩传感器4、第二转矩传感器28、第一电流传感器7、第二电流传感器20、转角传感器2、转速传感器8及车辆其它状态单元25；主控制器的输出端连接路感总成、电磁离合器6和电源控制单元21；The input end of the main controller 26 is connected to the first torque sensor 4, the second torque sensor 28, the first current sensor 7, the second current sensor 20, the rotation angle sensor 2, the speed sensor 8 and other vehicle Status unit 25; the output end of the main controller is connected to the road sensing assembly, the electromagnetic clutch 6 and the power control unit 21;

所述车辆其它状态单元包括：车速传感器、横摆角速度传感器；主控制器的输入端与车辆其它状态单元通过车载通讯线路连接，获取车速和横摆角速度。The other state units of the vehicle include: a vehicle speed sensor and a yaw rate sensor; the input terminal of the main controller is connected with other state units of the vehicle through a vehicle-mounted communication line to obtain the vehicle speed and the yaw rate.

所述电磁离合器包括：衔铁、主动轴、从动轴、电磁铁及摩擦片组；主动轴沿轴向固定在第一转向管柱3上，从动轴沿轴向固定在第二转向管柱10上，衔铁套在主动轴上，可轴向移动，电磁铁固定在主动轴上，摩擦片组固定在从动轴上，电磁铁位于衔铁与摩擦片组之间；主控制器输出的电磁离合器控制信号来控制线圈的通断电，进而控制电磁离合器的结合与分离。The electromagnetic clutch includes an armature, a driving shaft, a driven shaft, an electromagnet, and a friction plate group; the driving shaft is fixed on the first steering column 3 in the axial direction, and the driven shaft is fixed on the second steering column in the axial direction 10, the armature is sleeved on the driving shaft and can move axially, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is located between the armature and the friction plate group; the electromagnetic output from the main controller The clutch control signal controls the on and off of the coil, and then controls the coupling and disengagement of the electromagnetic clutch.

电磁铁包括衔铁、线圈、磁轭；线控转向正常时，线圈不通电，磁轭与衔铁分离，摩擦片组不传递转矩，电磁离合器分离；线控转向失效时，线圈通电，磁轭吸合衔铁，将摩擦片组压紧，摩擦片组通过摩擦力传递转矩，电磁离合器结合；方向盘的转矩通过第一转向管柱、电磁离合器、第二转向管柱传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。The electromagnet includes an armature, a coil, and a yoke; when the steer-by-wire is normal, the coil is not energized, the yoke is separated from the armature, the friction plate group does not transmit torque, and the electromagnetic clutch is separated; when the steer-by-wire fails, the coil is energized and the yoke is attracted Close the armature to compress the friction plate group, the friction plate group transmits torque through friction, and the electromagnetic clutch is combined; the steering wheel torque is transmitted to the steering tie rod and steering through the first steering column, the electromagnetic clutch, and the second steering column. Trapezoid and steering wheels complete the steering action.

参照图3所示，本发明的一种双源双绕组电机线控转向***的容错控制方法，基于上述***，包括以下步骤：Referring to Fig. 3, a fault-tolerant control method for a dual-source dual-winding motor-by-wire steering system of the present invention is based on the above-mentioned system and includes the following steps:

2)主控制器接收转角信号A，第一转矩信号B，第二转矩信号C，转速信号D，第一组电流信号E，第二组电流信号F，车速信号N及横摆角速度信号P，计算出双绕组电机模块所需提供的转向助力的大小及路感电机需要的反馈力矩的大小，并判断是否要启动电磁离合器以及输出电磁离合器控制信号M，同时，向电源控制器单元输出主控制电源控制信号以及向路感电机输出路感电机控制信号L；2) The main controller receives the rotation angle signal A, the first torque signal B, the second torque signal C, the speed signal D, the first group current signal E, the second group current signal F, the vehicle speed signal N and the yaw rate signal P, calculate the magnitude of the steering assistance required by the dual-winding motor module and the magnitude of the feedback torque required by the road sensor motor, and determine whether to start the electromagnetic clutch and output the electromagnetic clutch control signal M, and at the same time, output to the power controller unit Main control power supply control signal and output Lugan motor control signal L to Lugan motor;

3)电源控制器单元分别接收第一电源单元输出信号I、第二电源单元输出信号J以及主控制器电源控制信号K，继电控制器输出第一套绕组控制信号G和第二套绕组控制信号H，控制第一继电器和第二继电器进行供电模式的选择；3) The power supply controller unit receives the output signal I of the first power supply unit, the output signal J of the second power supply unit and the power control signal K of the main controller respectively, and the relay controller outputs the first set of winding control signals G and the second set of winding control Signal H, controlling the first relay and the second relay to select the power supply mode;

34)若第二电源出现故障，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，第一电源同时给第一套绕组和第二套绕组供电，电源控制器单元向驾驶员发出故障警告；34) If the second power supply fails, the power controller unit outputs the first set of winding control signals and the second set of winding control signals. The first relay contact a is connected to the contact e, the contact b is connected to the contact f, and the contact a Connect contact g, contact b connects contact h, second relay contact i connects contact m, and contact j connects contact n. The first power supply supplies power to the first set of windings and the second set of windings at the same time. Power control The driver unit issues a fault warning to the driver;

式中，K _m为各相绕组是否出现开路故障的表示值，1表示出现开路，0表示正常；I ₀为开路电流诊断阀值，取I ₀为绕组额定电流的3％；ω _r为双源双绕组电机转子机械角速度； In the formula, K _m is the value indicating whether there is an open circuit fault in each phase winding, 1 means open circuit, 0 means normal; I ₀ is the open circuit current diagnostic threshold, and I ₀ is 3% of the winding rated current; ω _r is double The mechanical angular velocity of the rotor of the source dual-winding motor;

式中，K _m为各相绕组是否出现短路故障的表示值，1表示出现短路，0表示正常；K ₀为短路诊断阀值，这里K ₀＝4，t _D为双源双绕组电机的运行时间，t ₀为双源双绕组电机的正常启动时间； In the formula, K _m is the value indicating whether each phase winding has a short circuit fault, 1 means short circuit, 0 means normal; K ₀ is the short circuit diagnostic threshold, where K ₀ ＝4, t _D is the operation of the dual-source dual-winding motor Time, t ₀ is the normal starting time of the dual-source dual-winding motor;

本发明具体应用途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进，这些改进也应视为本发明的保护范围。There are many specific applications of the present invention. The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements can be made. These Improvements should also be regarded as the protection scope of the present invention.

Claims

一种双源双绕组电机线控转向***，其特征在于，包括：方向盘，转向管柱总成、路感总成、双绕组电机转向执行装置、电源容错装置、主控制器及电磁离合器；其中，A dual-source dual-winding motor-by-wire steering system, which is characterized by comprising: a steering wheel, a steering column assembly, a road sensing assembly, a dual-winding motor steering actuator, a power supply fault-tolerant device, a main controller, and an electromagnetic clutch; ,

所述方向盘连接转向管柱总成，转向管柱总成包括：转角传感器、第一转向管柱及第一转矩传感器；方向盘输入的作用力经过第一转向管柱作用于路感总成上，第一转向管柱上分别固定安装第一转矩传感器和转角传感器；The steering wheel is connected to the steering column assembly, and the steering column assembly includes: a rotation angle sensor, a first steering column and a first torque sensor; the force input by the steering wheel acts on the road sensing assembly through the first steering column , The first torque sensor and the rotation angle sensor are respectively fixedly installed on the first steering column;

所述路感总成包括：路感电机、第二转矩传感器、及第一蜗轮蜗杆；路感电机的输出端经过第二转矩传感器与第一蜗轮蜗杆的蜗轮端连接，第一蜗轮蜗杆的蜗杆端固定在第一转向管柱上；路感电机输出的反馈力矩依次经过第一蜗轮蜗杆、第一转向管柱，传递至方向盘；The road sensing assembly includes: a road sensing motor, a second torque sensor, and a first worm gear; the output end of the road sensing motor is connected to the worm wheel end of the first worm gear through the second torque sensor, and the first worm gear The end of the worm is fixed on the first steering column; the feedback torque output by the road sense motor is transmitted to the steering wheel through the first worm gear and the first steering column in turn;

所述双绕组电机转向执行装置包括：双绕组电机模块、第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、转向横拉杆、转向梯形、转向车轮；The dual-winding motor steering actuator includes: a dual-winding motor module, a second worm gear, a second steering column, a ball screw, a steering tie rod, a steering trapezoid, and a steering wheel;

双绕组电机模块包括：定子铁芯、转子组件、机座、第一套绕组、第二套绕组、第一组电流传感器、第二组电流传感器、双绕组电机模块输出轴、转速传感器；The dual-winding motor module includes: stator core, rotor assembly, frame, first set of windings, second set of windings, first set of current sensors, second set of current sensors, dual winding motor module output shaft, speed sensor;

第一套绕组包括A相绕组、B相绕组、C相绕组；第一组电流传感器包括第一电流传感器、第二电流传感器、第三电流传感器；第一电流传感器与A相绕组连接，第二电流传感器与B相绕组连接，第三电流传感器与C相绕组连接；The first set of windings includes A-phase windings, B-phase windings, and C-phase windings; the first set of current sensors includes a first current sensor, a second current sensor, and a third current sensor; the first current sensor is connected to the A-phase winding, and the second current sensor is connected to the A-phase winding. The current sensor is connected to the B-phase winding, and the third current sensor is connected to the C-phase winding;

第二套绕组包括a相绕组、b相绕组、c相绕组；第二组电流传感器包括第四电流传感器、第五电流传感器、第六电流传感器；第四电流传感器与a相绕组连接，第五电流传感器与b相绕组连接，第六电流传感器与c相绕组连接；The second set of windings includes a-phase windings, b-phase windings, and c-phase windings; the second set of current sensors includes a fourth current sensor, a fifth current sensor, and a sixth current sensor; the fourth current sensor is connected to the a-phase winding, and the fifth current sensor is connected to the a-phase winding. The current sensor is connected to the b-phase winding, and the sixth current sensor is connected to the c-phase winding;

定子铁芯上分布有定子槽，第一套绕组和第二套绕组的同一相绕组之间错开电角度30°嵌放在不同的定子槽中，定子铁芯固定在机座上；第一套绕组的输入端与第一组电流传感器连接，第二套绕组的输入端与第二组电流传感器连接；The stator core is distributed with stator slots. The first set of windings and the second set of windings of the same phase are embedded in different stator slots at an electrical angle of 30°. The stator core is fixed on the base; The input end of the winding is connected to the first group of current sensors, and the input end of the second set of windings is connected to the second group of current sensors;

转子组件包括：转子铁芯、转子绕组；转子绕组绕于转子铁芯上，转子铁芯固定在双绕组电机模块输出轴上；第一套绕组和第二套绕组同时进行工作，产生合成磁场，在转子绕组中产生感应电流，感应电流在磁场的作用下带动转子铁芯旋转，转子铁芯通过双绕组电机模块输出轴将转矩输出；转速传感器安装在双绕组电机输出轴上；The rotor assembly includes: a rotor core and a rotor winding; the rotor winding is wound on the rotor core, and the rotor core is fixed on the output shaft of the dual-winding motor module; the first set of windings and the second set of windings work at the same time to generate a synthetic magnetic field, Induction current is generated in the rotor winding, and the induced current drives the rotor core to rotate under the action of the magnetic field. The rotor core outputs torque through the output shaft of the dual winding motor module; the speed sensor is installed on the output shaft of the dual winding motor;

所述电源容错装置包括：电源控制器单元、第一电源单元、第二电源单元；电源控制器单元的输入端依次连接第一电源单元和第二电源单元，同时还与主控制器电气连接；电源控制器单元的输出端依次连接第一套绕组和第二套绕组；The power supply fault-tolerant device includes: a power supply controller unit, a first power supply unit, and a second power supply unit; the input ends of the power supply controller unit are sequentially connected to the first power supply unit and the second power supply unit, and are also electrically connected to the main controller; The output terminal of the power controller unit is sequentially connected to the first set of windings and the second set of windings;

所述主控制器的输入端通过车载通讯线路连接第一转矩传感器、第二转矩传感器、第一组电流传感器、第二组电流传感器、转角传感器、转速传感器及车辆其它状态单元；主控制器的输出端连接路感总成、电磁离合器和电源控制单元；The input end of the main controller is connected to the first torque sensor, the second torque sensor, the first group of current sensors, the second group of current sensors, the rotation angle sensor, the speed sensor and other vehicle status units through the vehicle communication line; the main control The output end of the converter is connected to the road sensor assembly, electromagnetic clutch and power control unit;

所述电磁离合器包括：衔铁、主动轴、从动轴、电磁铁及摩擦片组；主动轴沿轴向固定在第一转向管柱上，从动轴沿轴向固定在第二转向管柱上，衔铁套于主动轴上，可轴向移动，电磁铁固定在主动轴上，摩擦片组固定在从动轴上，电磁铁位于衔铁与摩擦片组之间；主控制器输出的电磁离合器控制信号来控制线圈的通断电，进而控制电磁离合器的结合与分离。The electromagnetic clutch includes an armature, a driving shaft, a driven shaft, an electromagnet, and a friction plate group; the driving shaft is fixed on the first steering column in the axial direction, and the driven shaft is fixed on the second steering column in the axial direction , The armature is sleeved on the driving shaft and can move axially, the electromagnet is fixed on the driving shaft, the friction plate group is fixed on the driven shaft, and the electromagnet is located between the armature and the friction plate group; the electromagnetic clutch controlled by the main controller The signal controls the on and off of the coil, and then controls the coupling and disengagement of the electromagnetic clutch.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述双绕组电机模块输出端依次通过转速传感器、第二蜗轮蜗杆、第二转向管柱连接到滚珠丝杆的螺母；滚珠丝杆的丝杆端将转向横拉杆打断，滚珠丝杆两端与转向横拉杆被打断的两个端口轴向固定连接；双绕组电机输出的旋转运动经第二蜗轮蜗杆转换为第二转向管柱的旋转运动，第二转向管柱的旋转运动又经过滚珠丝杆转换为转向横拉杆的位移运动，转向横拉杆的位移运动通过转向梯形和转向车轮完成转向动作。The dual-source dual-winding motor-by-wire steering system according to claim 1, wherein the output end of the dual-winding motor module is connected to the ball screw via a speed sensor, a second worm gear, and a second steering column in sequence. Nut; the screw end of the ball screw breaks the steering tie rod, and the two ends of the ball screw are axially fixedly connected with the two ports where the steering tie rod is broken; the rotational motion output by the dual-winding motor is converted by the second worm gear It is the rotation movement of the second steering column. The rotation movement of the second steering column is converted by the ball screw into the displacement movement of the steering tie rod. The displacement movement of the steering tie rod completes the steering action through the steering trapezoid and the steering wheels.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述双绕组电机模块为无刷直流电机。The dual-source dual-winding motor-by-wire steering system according to claim 1, wherein the dual-winding motor module is a brushless DC motor.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述电源控制器单元包括：继电器控制器、第一继电器及第二继电器；继电器控制器的输入端依次连接第一电源单元、第二电源单元、主控制器，继电器控制器的输出端依次连接第一继电器、第二继电器；第一电源单元的输出电路与第一继电器的a、b触点连接，第一继电器的触点e、f输出电路经过第一组电流传感器与第一套绕组连接，第一继电器的触点g、h输出电路第二继电器的触点i、j连接；第二电源单元的输出电路分为两个并联支路，第一个支路与第一继电器的触点c、d连接，第二个支路与第二继电器的k、l触点连接，第二继电器的触点m、n输出电路经过第二组电流传感器与第二套绕组连接。The dual-source dual-winding motor-by-wire steering system according to claim 1, wherein the power supply controller unit comprises: a relay controller, a first relay, and a second relay; the input terminals of the relay controller are sequentially connected to the first relay A power supply unit, a second power supply unit, and a main controller. The output terminals of the relay controller are connected to the first relay and the second relay in sequence; the output circuit of the first power supply unit is connected to the contacts a and b of the first relay. The contact e and f output circuits of the relay are connected to the first set of windings through the first set of current sensors, the contacts g and h of the first relay output circuit are connected to the contacts i and j of the second relay; the output of the second power supply unit The circuit is divided into two parallel branches, the first branch is connected to the contacts c and d of the first relay, the second branch is connected to the k and l contacts of the second relay, and the contact m of the second relay , The n output circuit is connected to the second set of windings through the second set of current sensors.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述第一电源单元包括第一电源、第一电压传感器；第二电源单元包括第二电源、第二电压传感器；第一电源输出端经过第一电压传感器与继电器控制器连接；第二电源输出端经过第二电压传感器与继电器控制器连接。The dual-source dual-winding motor-by-wire steering system according to claim 1, wherein the first power supply unit includes a first power supply and a first voltage sensor; and the second power supply unit includes a second power supply and a second voltage sensor ; The first power output terminal is connected to the relay controller through the first voltage sensor; the second power output terminal is connected to the relay controller through the second voltage sensor.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述车辆其它状态单元包括：车速传感器、横摆角速度传感器；主控制器的输入端与车辆其它状态单元通过车载通讯线路连接，获取车速和横摆角速度。The dual-source dual-winding motor-by-wire steering system according to claim 1, wherein the other state units of the vehicle include: a vehicle speed sensor and a yaw rate sensor; The communication line is connected to obtain the vehicle speed and yaw rate.
根据权利要求1所述的双源双绕组电机线控转向***，其特征在于，所述电磁铁包括衔铁、线圈、磁轭；线控转向正常时，线圈不通电，磁轭与衔铁分离，摩擦片组不传递转矩，电磁离合器分离；线控转向失效时，线圈通电，磁轭吸合衔铁，将摩擦片组压紧，摩擦片组通过摩擦力传递转矩，电磁离合器结合；方向盘的转矩通过第一转向管柱、电磁离合器、第二转向管柱传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。The dual-source dual-winding motor steer-by-wire system according to claim 1, wherein the electromagnet includes an armature, a coil, and a yoke; when the steer-by-wire is normal, the coil is not energized, and the yoke is separated from the armature and friction The disc pack does not transmit torque, and the electromagnetic clutch is disconnected; when the steer-by-wire fails, the coil is energized and the yoke attracts the armature to compress the friction plate group. The friction plate group transmits torque through friction, and the electromagnetic clutch is combined; the steering wheel turns The moment is transmitted to the steering tie rod, the steering trapezoid and the steering wheels through the first steering column, the electromagnetic clutch, and the second steering column to complete the steering action.
一种双源双绕组电机线控转向***的容错控制方法，基于上述权利要求1至7中任意一项***，其特征在于，包括以下步骤：A fault-tolerant control method for a dual-source dual-winding motor-by-wire steering system based on any one of the above claims 1 to 7, characterized in that it comprises the following steps:

1)根据车辆驾驶情况，输入一个方向盘转角；1) According to the driving situation of the vehicle, input a steering wheel angle;

2)主控制器接收转角信号，第一转矩信号，第二转矩信号，转速信号，第一组电流信号，第二组电流信号，车速信号及横摆角速度信号，计算出双绕组电机模块所需提供的转向助力的大小及路感电机需要的反馈力矩的大小，并判断是否要启动电磁离合器以及输出电磁离合器控制信号，同时，向电源控制器单元输出主控制电源控制信号以及向路感电机输出路感电机控制信号；2) The main controller receives the rotation angle signal, the first torque signal, the second torque signal, the speed signal, the first group of current signals, the second group of current signals, the vehicle speed signal and the yaw rate signal, and calculates the dual winding motor module The magnitude of the steering assistance needed and the feedback torque required by the road sense motor, and determine whether to start the electromagnetic clutch and output the electromagnetic clutch control signal, and at the same time, output the main control power control signal and the road sense to the power controller unit Motor output road sense motor control signal;

3)电源控制器单元分别接收第一电源单元输出信号、第二电源单元输出信号以及主控制器电源控制信号，继电控制器输出第一套绕组控制信号和第二套绕组控制信号，控制第一继电器和第二继电器进行供电模式的选择；3) The power supply controller unit receives the output signal of the first power supply unit, the output signal of the second power supply unit and the power control signal of the main controller respectively, and the relay controller outputs the first set of winding control signals and the second set of winding control signals to control the first set of winding control signals and the second set of winding control signals. A relay and a second relay select the power supply mode;

4)双绕组电机模块输出的转向力矩经过第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、转向横拉杆和转向梯形传递给转向车轮，完成车轮转向操作；路感电机输出的路感反馈力矩经过第一蜗轮蜗杆、第一转向管柱和方向盘传递给驾驶员，完成路感反馈操作。4) The steering torque output by the dual-winding motor module is transmitted to the steering wheels through the second worm gear, the second steering column, the ball screw, the steering tie rod and the steering trapezoid to complete the wheel steering operation; the road feeling feedback output by the road feeling motor The torque is transmitted to the driver through the first worm gear, the first steering column and the steering wheel to complete the road feel feedback operation.
根据权利要求8所述的双源双绕组电机线控转向***的容错控制方法，其特征在于，所述步骤3)中的供电模式的选择具体包括以下步骤：The fault-tolerant control method of the dual-source dual-winding motor-by-wire steering system according to claim 8, wherein the selection of the power supply mode in the step 3) specifically includes the following steps:

31)主控制器根据第一组电流传感器和第二组电流传感器的输出信号，判断第一套绕组和第二套绕组是否正常工作，并输出包含第一套绕组和第二套绕组工作状态的主控制器电源控制信号；电源控制器单元接收第一电源单元和第二电源单元输出的信号，判断第一电源和第二电源的工作状态，并接收主控制器电源控制信号，得到第一套绕组和第二套绕组的工作状态；继电器控制器通过各绕组和电源的工作状态，控制第一继电器和第二继电器选择相应的供电模式；31) The main controller judges whether the first set of windings and the second set of windings are working normally according to the output signals of the first set of current sensors and the second set of current sensors, and outputs information including the working status of the first set of windings and the second set of windings. The main controller power supply control signal; the power supply controller unit receives the signals output by the first power supply unit and the second power supply unit, judges the working status of the first power supply and the second power supply, and receives the main controller power supply control signal to obtain the first set The working status of the windings and the second set of windings; the relay controller controls the first relay and the second relay to select the corresponding power supply mode through the working status of each winding and the power supply;

32)若第一套绕组、第二套绕组、第一电源、第二电源均正常工作，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第一电源单元给第一绕组供电，第二继电器的触点k连接触点m，触点l连接触点n，第二电源给第二套绕组供电，转向***正常工作；32) If the first set of windings, the second set of windings, the first power supply, and the second power supply are all working normally, the power supply controller unit outputs the first set of winding control signals and the second set of winding control signals, and the contact point of the first relay is a Connect contact e, contact b is connected to contact f, the first power supply unit supplies power to the first winding, contact k of the second relay is connected to contact m, contact l is connected to contact n, and the second power supply is supplied to the second set Winding power supply, the steering system works normally;

33)若第一电源出现故障，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器触点c连接触点e，触点d连接触点f，第二继电器触点k连接触点m，触点l连接触点n，第二电源同时给第一套绕组和第二套绕组供电，电源控制器单元向驾驶员发出故障警告；33) If the first power supply fails, the power controller unit outputs the first set of winding control signals and the second set of winding control signals, the first relay contact c is connected to contact e, contact d is connected to contact f, and the second relay Contact k is connected to contact m, and contact l is connected to contact n. The second power supply supplies power to the first set of windings and the second set of windings at the same time, and the power controller unit issues a fault warning to the driver;

34)若第二电源出现故障，电源控制器单元输出第一套绕组控制信号和第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，第一电源同时给第一套绕组和第二套绕组供电，电源控制器单元向驾驶员发出故障警告；34) If the second power supply fails, the power controller unit outputs the first set of winding control signals and the second set of winding control signals. The first relay contact a is connected to the contact e, the contact b is connected to the contact f, and the contact a Connect contact g, contact b connects contact h, second relay contact i connects contact m, and contact j connects contact n. The first power supply supplies power to the first set of windings and the second set of windings at the same time. Power control The device unit issues a fault warning to the driver;

35)若第一套绕组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第一继电器触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，触点k连接触点m，触点l连接触点n，第一电源和第二电源同时给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；35) If the first set of windings fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The first relay contact a is connected to the contact g, and the contact b is connected to the contact h , The second relay contact i is connected to the contact m, the contact j is connected to the contact n, the contact k is connected to the contact m, and the contact l is connected to the contact n. The first power supply and the second power supply supply power to the second set of windings at the same time , The first set of windings is suspended, and the power controller unit issues a fault warning to the driver;

36)若第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，触点c连接触点g，触点d连接触点h，第一电源和第二电源同时给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；36) If the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact a is connected to the contact e, and the contact b is connected to the contact f , Contact c is connected to contact g, and contact d is connected to contact h. The first power supply and the second power supply supply power to the first set of windings at the same time, the second set of windings are suspended, and the power controller unit issues a fault warning to the driver;

37)若第一电源出现故障且第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点c连接触点e，触点d连接触点f，第二电源给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；37) If the first power supply fails and the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact c is connected to the contact e, Point d is connected to contact f, the second power supply supplies power to the first set of windings, and the second set of windings is suspended, and the power controller unit issues a fault warning to the driver;

38)若第二电源出现故障且第一绕组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第一继电器触点a连接触点g，触点b连接触点h，第二继电器触点i连接触点m，触点j连接触点n，第一电源给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；38) If the second power supply fails and the first winding fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The first relay contact a is connected to the contact g, and the contact b is connected to contact h, the second relay contact i is connected to contact m, and contact j is connected to contact n. The first power supply supplies power to the second set of windings, and the first set of windings are suspended, and the power controller unit sends a message to the driver Fault warning

39)若第一电源出现故障且第一绕套组出现故障，电源控制器单元输出第二套绕组控制信号，并停止输出第一套绕组控制信号，第二继电器触点k连接触点m，触点l连接触点n，第二电源给第二套绕组供电，第一套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；39) If the first power supply fails and the first winding set fails, the power controller unit outputs the second set of winding control signals and stops outputting the first set of winding control signals. The second relay contact k is connected to the contact m, Contact l is connected to contact n, the second power supply supplies power to the second set of windings, the first set of windings is suspended, and the power controller unit issues a fault warning to the driver;

40)若第二电源出现故障且第二套绕组出现故障，电源控制器单元输出第一套绕组控制信号，并停止输出第二套绕组控制信号，第一继电器触点a连接触点e，触点b连接触点f，第一电源给第一套绕组供电，第二套绕组暂停工作，电源控制器单元向驾驶员发出故障警告；40) If the second power source fails and the second set of windings fails, the power controller unit outputs the first set of winding control signals and stops outputting the second set of winding control signals. The first relay contact a is connected to the contact e, Point b is connected to contact f, the first power supply supplies power to the first set of windings, the second set of windings suspends work, and the power controller unit issues a fault warning to the driver;

41)若两个电源或两套绕组同时出现故障，电源控制器单元停止输出第一套绕组控制信号和第二套绕组控制信号，第一继电器和第二继电器均断开，第一套绕组和第二套绕组暂停工作；主控制器输出电磁离合器控制信号，电磁离合器结合，电源控制器单元向驾驶员发出故障警告，并提示驾驶员进行紧急制动操作。41) If two power supplies or two sets of windings fail at the same time, the power controller unit stops outputting the first set of winding control signals and the second set of winding control signals, the first relay and the second relay are both disconnected, and the first set of windings and The second set of windings is suspended; the main controller outputs the electromagnetic clutch control signal, the electromagnetic clutch is combined, and the power controller unit issues a fault warning to the driver and prompts the driver to perform an emergency braking operation.
根据权利要求9所述的双源双绕组电机线控转向***的容错控制方法，其特征在于，所述步骤31)中的绕组故障的诊断具体包括以下步骤：The fault-tolerant control method for a dual-source dual-winding motor-by-wire steering system according to claim 9, wherein the diagnosis of winding fault in step 31) specifically includes the following steps:

311)将采集到的A相电流i ₁、B相电流i ₂、C相电流i ₃、a相电流i ₄、b相电流i ₅、c相电流i ₆分别代入各相开路电流诊断方程处理得到各相的开路电流诊断值i _m，各相开路电流诊断方程如下： 311) Substitute the collected A-phase current i ₁ , B-phase current i ₂ , C-phase current i ₃ , a-phase current i ₄ , b-phase current i ₅ , and c-phase current i ₆ into each phase open-circuit current diagnosis equation for processing. The open circuit current diagnosis value i _m of each phase is obtained, and the open circuit current diagnosis equation of each phase is as follows:

式中，t ₁、t ₂分别为采样的起始时间点，T _s为采样周期，n为经历的采样周期的个数，这里选取n＝20，m＝1，2，3，4，5，6； In the formula, t ₁ and t ₂ are the starting time points _{of sampling, T s} is the sampling period, and n is the number of sampling periods experienced. Here, n = 20, m = 1, 2, 3, 4, 5 , 6;

312)将处理得到的各相开路电流诊断值，代入开路故障诊断方程，得到各相绕组是否出现开路的表示值，开路诊断方程为：312) Substituting the processed open-circuit current diagnostic value of each phase into the open-circuit fault diagnosis equation to obtain an indication of whether each phase winding has an open circuit. The open-circuit diagnosis equation is:

式中，K _m为各相绕组是否出现开路故障的表示值，1表示出现开路，0表示正常；I ₀为开路电流诊断阀值，取I ₀为绕组额定电流的3％；ω _r为双源双绕组电机转子机械角速度； In the formula, K _m is the value indicating whether there is an open circuit fault in each phase winding, 1 means open circuit, 0 means normal; I ₀ is the open circuit current diagnostic threshold, and I ₀ is 3% of the winding rated current; ω _r is double The mechanical angular velocity of the rotor of the source dual-winding motor;

313)将采集到的电流A相电流i ₁、B相电流i ₂、C相电流i ₃、a相电流i ₄、b相电流i ₅、c相电流i ₆分别代入各相短路电流诊断方程处理得到各相的电流诊断值d _m： 313) Substitute the collected current A-phase current i ₁ , B-phase current i ₂ , C-phase current i ₃ , a-phase current i ₄ , b-phase current i ₅ , and c-phase current i ₆ into the short-circuit current diagnosis equations of each phase. _{The current diagnosis value d m of} each phase is obtained by processing:

式中，d _m为各相短路电流的诊断值，I _N为各相绕组额定电流的峰值，i _m为各相开路电流诊断值，t ₁、t ₂分别为采样的起始时间点，T _s为采样周期，n为经历的采样周期的个数，这里选取n＝20，m＝1，2，3，4，5，6； Wherein, d _m is the diagnostic value of each phase of the short-circuit current, I _N is the peak rated current in each phase winding, i _m is the diagnostic value of each phase of the off current, t _1, t ₂ are sampling start time point, T _s is the sampling period, n is the number of sampling periods experienced, here n=20, m=1, 2, 3, 4, 5, 6;

314)将处理得到的各相短路电流诊断值，代入短路故障诊断方程，得到各相绕组是否出现短路的表示值，短路诊断方程为：314) Substituting the processed short-circuit current diagnostic value of each phase into the short-circuit fault diagnosis equation to obtain the value indicating whether the winding of each phase is short-circuited. The short-circuit diagnosis equation is:

式中，K _m为各相绕组是否出现短路故障的表示值，1表示出现短路，0表示正常；K ₀为短路诊断阀值，这里K ₀＝4，t _D为双源双绕组电机的运行时间，t ₀为双源双绕组电机的正常启动时间； In the formula, K _m is the value indicating whether each phase winding has a short circuit fault, 1 means short circuit, 0 means normal; K ₀ is the short circuit diagnostic threshold, where K ₀ ＝4, t _D is the operation of the dual-source dual-winding motor Time, t ₀ is the normal starting time of the dual-source dual-winding motor;

315)根据处理得到的各相绕组是否出现开路、短路的的表示值，代入故障处理方程得到故障时应断开那一套绕组故障的表示值，其故障处理方程为：315) According to the indicated values of whether the windings of each phase are open or short, substituted into the fault handling equation to obtain the indicated value of the set of winding faults that should be disconnected when the fault occurs. The fault handling equation is:

式中，S ₁为是否断开第一套绕组的表示值，S ₂为是否应断开第二套绕组的表示值，值为1表示应该断开，为0表示不断开； In the formula, S ₁ is the value indicating whether the first set of windings _{should be disconnected, S 2} is the value indicating whether the second set of windings should be disconnected, a value of 1 means it should be disconnected, and a value of 0 means no disconnection;

316)主控制器根据S ₁和S ₂的值判断第一套绕组和第二套绕组是否正常工作，从而向电源控制器单元输出电源控制信号。 316) operates according to the master controller whether the values S ₁ and S ₂ determines the first set and second sets of coil windings normal, so that the power supply control unit outputs a power control signal.