WO2021120508A1

WO2021120508A1 - Dual-winding motor-based dual-motor wire-controlled steering system and control method thereof

Info

Publication number: WO2021120508A1
Application number: PCT/CN2020/090295
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: 2019-12-18
Filing date: 2020-05-14
Publication date: 2021-06-24
Also published as: CN111055918B; CN111055918A

Abstract

Provided are a dual-winding motor-based dual-motor wire-controlled steering system and a control method thereof, wherein the system includes: a steering wheel (1), a steering column assembly, a road sensing assembly, a dual-motor steering actuator, a steering control unit, and an electromagnetic clutch ( 6); the system integrates the functions of a dual-winding motor, the simultaneous working mode of the dual-winding motor with two sets of windings can, compared to a single-winding motor, output a larger torque, and compared to a dual-winding electric motor hydraulic assisting steering system, it has a faster response speed and lower energy consumption.

Description

一种基于双绕组电机的双电机线控转向***及其控制方法Dual-motor wire-controlled steering system based on dual-winding motor and control method thereof

技术领域Technical field

本发明属于汽车转向***技术领域，具体指代一种基于双绕组电机的双电机线控转向***及其控制方法。The invention belongs to the technical field of automobile steering systems, and specifically refers to a dual-motor wire-controlled steering system based on a dual-winding motor and a control method thereof.

背景技术Background technique

随着汽车智能化程度越来越高，汽车上的各个执行模块都趋于线控化。其中线控转向***能够提高汽车安全性能，改善驾驶特性，增强操纵性，为驾驶员提供更为真实的路感，成为当前人们研究的热点。As cars become more intelligent, each execution module on the car tends to be controlled by wire. Among them, the wire-controlled steering system can improve the safety performance of the car, improve the driving characteristics, enhance the maneuverability, and provide the driver with a more realistic road feeling, which has become a hot research topic.

现有线控转向***中，中国专利申请号为CN201711344340.6中公开了一种两个电机通过行星齿轮机构带动转向器齿条移动，进而带动转向横拉杆移动完成转向动作的转向***；中国专利申请号为CN201711346835.2中公开了一种将一个电机布置在下转向管柱上，另外两个电机布置在转向横拉杆上，并且根据转向所需力矩的大小来决定工作电机的个数的多电机线控转向***；但是由于安装空间和成本的限制，线控转向***的电机往往功率较小，上述双电机线控转向***存在提供的转向力矩较小的问题，而多电机线控转向***又存在安装空间大和成本较高的问题。Among the existing steer-by-wire systems, Chinese patent application number CN201711344340.6 discloses a steering system in which two motors drive the steering gear rack to move through a planetary gear mechanism, and then drive the steering tie rod to move to complete the steering action; Chinese patent application CN201711346835.2 discloses a multi-motor line in which one motor is arranged on the lower steering column, and the other two motors are arranged on the steering tie rod, and the number of working motors is determined according to the torque required for steering. Control steering system; however, due to the limitation of installation space and cost, the motor power of the steer-by-wire system is often low. The above-mentioned dual-motor steer-by-wire system has the problem that the steering torque provided by the dual-motor steer-by-wire system is small, and the multi-motor steer-by-wire system also exists The problem of large installation space and high cost.

针对上述问题，中国专利申请号为CN201510946353.5中公开了一种利用双绕组电机带动油泵提供液压助力带动下转向管柱旋转，进而通过转向器带动转向横拉杆运动完成转向动作的双绕组电机电动液压助力转向***，能够提供较大的转向力矩，但是液压助力又存在能耗较大和响应速度不如电动转向等问题。In response to the above problems, Chinese Patent Application No. CN201510946353.5 discloses a dual-winding motor that uses a dual-winding motor to drive an oil pump to provide hydraulic assistance to drive the lower steering column to rotate, and then to drive the steering tie rod to move through the steering gear to complete the steering action. Hydraulic power steering system can provide greater steering torque, but hydraulic power steering has problems such as greater energy consumption and less response speed than electric power steering.

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基于双绕组电机的双电机线控转向***及其控制方法，以解决现有技术中难以实现转向***较大的转向力矩和较快的响应速度的问题。In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a dual-motor wire-controlled steering system based on a dual-winding motor and a control method thereof, so as to solve the difficulty in the prior art to achieve greater steering torque and greater steering torque of the steering system. The problem of fast response speed.

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:

本发明的一种基于双绕组电机的双电机线控转向***，包括：方向盘、转向管柱总成、路感总成、双电机转向执行装置、转向控制单元、电磁离合器；其中，A dual-motor-by-wire steering system based on dual-winding motors of the present invention includes: a steering wheel, a steering column assembly, a road sensing assembly, a dual-motor steering actuator, a steering control unit, 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：第一转向管柱、第一转矩传感器、转角传感器；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、转角传感器；The steering wheel is connected to the steering column assembly, and the steering column assembly includes: a first steering column, a first torque sensor, and a rotation angle 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、第一蜗轮蜗杆；路感电机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 worm of the first worm gear The end 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;

所述双电机转向执行装置包括：第一电机模块、双绕组电机模块、转向横拉杆、转向梯形、转向车轮；The dual-motor steering actuator includes: a first motor module, a dual-winding motor module, a steering tie rod, a steering trapezoid, and steering wheels;

第一电机模块包括：第一电机、第三转矩传感器、单向离合器、第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、位移传感器；位移传感器安装在滚珠丝杆上，第一电机的输出端依次通过第三转矩传感器、单向离合器、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；第一电机输出的旋转运动经单向离合器、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；The first motor module includes: a first motor, a third torque sensor, a one-way clutch, a second worm gear, a second steering column, a ball screw, and a displacement sensor; the displacement sensor is installed on the ball screw, and the first motor The output end of the ball screw is connected to the nut of the ball screw through the third torque sensor, the one-way clutch, the second worm gear, and the second steering column in turn; the screw end of the ball screw interrupts the steering tie rod, and the ball screw Both ends are axially fixedly connected with the two ports where the steering tie rod is broken; the rotary motion output by the first motor is converted into the rotary motion of the second steering column by the one-way clutch and the second worm gear, and the second steering column The rotation movement of the ball screw is converted into the displacement movement of the steering tie rod;

双绕组电机模块包括：继电器控制单元、双绕组电机、第一电流传感器、第二电流传感、减速机构；The dual-winding motor module includes: a relay control unit, a dual-winding motor, a first current sensor, a second current sensor, and a deceleration mechanism;

继电器控制单元包括：继电器控制器及继电器；继电器控制器的输入端连接转向控制单元，继电器控制器的输出端连接继电器；The relay control unit includes: a relay controller and a relay; the input end of the relay controller is connected to the steering control unit, and the output end of the relay controller is connected to the relay;

双绕组电机包括：定子铁芯、转子组件、机座、第一套绕组、第二套绕组、双绕组电机输出轴；The dual-winding motor includes: stator core, rotor assembly, frame, first set of windings, second set of windings, and dual-winding motor output shaft;

第一套绕组包括A相绕组、B相绕组、C相绕组；第二套绕组包括a相绕组、b相绕组、c相绕组；第一套绕组输入端分为三条支路，分别连接A相绕组输入端、B相绕组输入端、C相绕组输入端；第二套绕组输入端分为三条支路，分别连接a相绕组输入端、b相绕组输入端、c相绕组输入端；The first set of windings includes A-phase windings, B-phase windings, and C-phase windings; the second set of windings includes a-phase windings, b-phase windings, and c-phase windings; the input end of the first set of windings is divided into three branches, which are connected to phase A respectively Winding input terminal, B-phase winding input terminal, C-phase winding input terminal; the second set of winding input terminal is divided into three branches, respectively connected to the a-phase winding input terminal, the b-phase winding input terminal, and the c-phase winding input terminal;

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电流传感器连接，第二套绕组的输入端与第二电流传感器连接；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 current sensor, and the input end of the second set of windings is connected to the second current sensor;

转子组件包括：转子铁芯、转子绕组；转子绕组绕在转子铁芯上，转子铁芯固定在双绕组电机输出轴上；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输出轴将转矩输出；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 of the dual winding motor; the first set of windings and the second set of windings work at the same time to generate a synthetic magnetic field. The induced current is generated in the rotor winding, and the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs the torque through the output shaft of the dual-winding motor;

减速机构包括：小齿轮、皮带、大齿轮；小齿轮沿轴向固定在双绕组电机输出轴上，皮带连接小齿轮和大齿轮，大齿轮内部带有螺纹，沿轴向套在滚珠丝杆上；The reduction mechanism includes: a small gear, a belt, and a large gear; the small gear is axially fixed on the output shaft of the dual-winding motor, and the belt connects the small gear and the large gear. The large gear has threads inside and is sleeved on the ball screw in the axial direction. ；

所述转向控制单元包括：主控制器和车辆其它状态单元；主控制器的输入端与上述各传感器电气连接，并获取第一转矩信号、第二转矩信号、第三转矩信号、第一电流信号、第二电流信号、转角信号、转向横拉杆位移信号；车辆其它状态单元为主控制器提供当前车辆状态的车速信号和横摆角速度信号；主控制器的输出端连接路感总成、电磁离合器、第一电机、继电器控制单元；The steering control unit includes: a main controller and other vehicle status units; the input of the main controller is electrically connected to the above-mentioned sensors, and obtains the first torque signal, the second torque signal, the third torque signal, and the first torque signal. A current signal, a second current signal, a rotation angle signal, and a tie rod displacement signal; other vehicle state units provide the main controller with the current vehicle state speed signal and yaw rate signal; the output terminal of the main controller is connected to the road sense assembly , Electromagnetic clutch, first motor, relay control unit;

所述电磁离合器包括：衔铁、主动轴、从动轴、电磁铁、摩擦片组；主动轴沿轴向固定在第一转向管柱，从动轴沿轴向固定在第二转向管柱，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 to the first steering column in the axial direction, the driven shaft is fixed to the second steering column in the axial direction, and the armature is It 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 control signal output by the main controller comes from Control the on and off of the coil to control the coupling and disengagement of the electromagnetic clutch.

进一步地，所述双绕组电机输出轴相对于转向横拉杆平行布置，经减速机构连接到滚珠丝杆上；双绕组电机输出轴的旋转运动转换为小齿轮的旋转运动，小齿轮的旋转运动通过皮带转换为大齿轮的旋转运动，大齿轮的旋转运动通过滚珠丝杆转换为转向横拉杆的位移运动。Further, the output shaft of the dual-winding motor is arranged in parallel with respect to the steering tie rod, and is connected to the ball screw via a reduction mechanism; the rotational movement of the output shaft of the dual-winding motor is converted into the rotational movement of the pinion, and the rotational movement of the pinion passes through The belt is converted into the rotation movement of the big gear, and the rotation movement of the big gear is converted into the displacement movement of the steering tie rod through the ball screw.

进一步地，所述滚珠丝杆的螺母带动滚珠丝杆的位移和大齿轮旋转带动所述丝杆的位移在转向横拉杆上进行叠加，进而带动转向梯形和转向车轮完成转向动作。Further, the displacement of the ball screw driven by the nut of the ball screw and the displacement of the screw driven by the rotation of the large gear are superimposed on the steering tie rod, thereby driving the steering trapezoid and the steering wheel to complete the steering action.

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

进一步地，所述第一电流传感器和第二电流传感器为霍尔电流传感器。Further, the first current sensor and the second current sensor are Hall current sensors.

进一步地，所述主控制器包括信号处理单元、转向决策单元、转向数据库、诊断单元、故障报警单元、电机驱动单元和电磁离合器驱动单元；信号处理单元与上述各传感器电气连接，获取各传感器实时采集的信号，同时信号处理单元与上述车辆其它状态单元电气连接，获取车辆的其它状态信号；转向决策单元分别通过车载通讯线路接收信号处理单元、转向数据库和诊断单元的输入信号，经过计算通过车载通讯线路分别向电机驱动单元和电磁离合器驱动单元输出指令，电机驱动单元输出路感电机、第一电机、双绕组电机的控制信号，电磁离合器驱动单元输出电磁离合器控制信号，完成转向动作的控制过程。Further, the main controller includes a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, a motor drive unit, and an electromagnetic clutch drive unit; the signal processing unit is electrically connected to the above-mentioned sensors to obtain the real-time information of each sensor. At the same time, the signal processing unit is electrically connected with the above-mentioned vehicle status unit to obtain other status signals of the vehicle; the steering decision unit receives the input signal of the signal processing unit, steering database and diagnosis unit through the on-board communication line, and then passes the calculation through the on-board vehicle. The communication lines respectively output instructions to the motor drive unit and the electromagnetic clutch drive unit. The motor drive unit outputs the control signals of the road-sensing motor, the first motor and the dual-winding motor. The electromagnetic clutch drive unit outputs the electromagnetic clutch control signal to complete the control process of the steering action. .

进一步地，所述电磁铁包括线圈、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、滚珠丝杆传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。Further, the electromagnet includes 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 is energized, 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 passes through the first steering column, the electromagnetic clutch, the second steering column, and the ball screw Transfer to the steering tie rod, steering trapezoid and steering wheels to complete the steering action.

本发明的一种基于双绕组电机的双电机线控转向***的控制方法，基于上述***，包括以下步骤：The control method of a dual-motor-by-wire steering system based on a dual-winding motor of the present invention is based on the above-mentioned system and includes the following steps:

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

2)信号处理单元实时接收转角信号，第一转矩信号，第二转矩信号，第三转矩信号，第一电流信号，第二电流信号，转向横拉杆位移信号，车速信号，横摆角速度信号，通过计算得到当前车辆状态信号，并传输给转向决策单元；2) The signal processing unit receives real-time rotation angle signal, first torque signal, second torque signal, third torque signal, first current signal, second current signal, tie rod displacement signal, vehicle speed signal, yaw rate Signal, the current vehicle state signal is obtained through calculation and transmitted to the steering decision unit;

3)转向决策单元根据转向数据库中存储的各个车辆状态下期望的车辆前轮转角和期望的驾驶路感对上述当前车辆状态信号进行转向决策计算，得到下一时刻期望的车辆前轮转角，并计算出下一时刻期望的车辆前轮转角对应的转向横拉杆位移；同时还得到下一时刻期望的驾驶路感，并计算出下一时刻期望的驾驶路感对应的转向管柱力矩；转向决策单元向电机驱动单元和电磁离合器控制单元输出指令；3) The steering decision unit performs the steering decision calculation on the above current vehicle state signal according to the expected front wheel angle of the vehicle and the expected driving feeling in each vehicle state stored in the steering database, and obtains the expected front wheel angle of the vehicle at the next moment, and Calculate the steering tie rod displacement corresponding to the expected front wheel angle of the vehicle at the next moment; at the same time, obtain the expected driving road feel at the next time, and calculate the steering column torque corresponding to the expected driving road feel at the next time; steering decision The unit outputs instructions to the motor drive unit and the electromagnetic clutch control unit;

4)诊断单元在车辆行驶过程中，检测***是否正常工作，电机驱动单元根据转向决策单元的输出指令，选择不同的工作模式，分别输出路感电机控制信号、第一电机控制信号、包含第一套绕组和第二套绕组工作状态的双绕组电机控制信号，继电器控制器根据双绕组电机控制信号判断第一套绕组和第二套绕组工作状态，进而控制继电器内部触点的连接方式；同时，电磁离合器驱动单元根据转向决策单元的输出指令输出电磁离合器控制信号，控制电磁离合器的结合和分离。4) The diagnosis unit detects whether the system is working normally during the driving process of the vehicle. The motor drive unit selects different working modes according to the output instructions of the steering decision unit, and respectively outputs the road sensor motor control signal, the first motor control signal, and the first motor control signal. Set the dual-winding motor control signal of the working state of the winding and the second set of windings, the relay controller judges the working state of the first set of windings and the second set of windings according to the dual-winding motor control signal, and then controls the connection mode of the internal contacts of the relay; at the same time, The electromagnetic clutch driving unit outputs an electromagnetic clutch control signal according to the output instruction of the steering decision unit, and controls the coupling and disengagement of the electromagnetic clutch.

进一步地，所述步骤4)电机驱动单元工作模式的选择具体包括以下步骤：Further, the step 4) the selection of the working mode of the motor drive unit specifically includes the following steps:

41)当***所需助力转矩小于等于第一电机所能提供的最大助力转矩，单向离合器闭合，启动第一电机，第一电机作为转角电机，转向横拉杆位移取决于第一电机；41) When the required assist torque of the system is less than or equal to the maximum assist torque that the first motor can provide, the one-way clutch is closed and the first motor is started. The first motor is used as the angle motor, and the displacement of the steering tie rod depends on the first motor;

42)当***所需助力转矩大于第一电机所能提供的最大助力转矩，小于等于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩之和，单向离合器闭合，第一电机作为转角电机满负荷工作，继电器触点a连接触点c，触点b连接触点d，启动双绕组电机的第一套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第一套绕组；42) When the assisting torque required by the system is greater than the maximum assisting torque that the first motor can provide, and less than or equal to the sum of the maximum assisting torque that the first motor and the first set of windings of the dual-winding motor can provide, the one-way clutch Closed, the first motor works as a corner motor at full load, relay contact a is connected to contact c, and contact b is connected to contact d. The first winding of the dual-winding motor is started as a torque motor. The displacement of the steering tie rod depends on the first set of windings. A motor and the first set of windings of a dual-winding motor;

43)当***所需助力转矩大于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩之和，小于等于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩之和，单向离合器闭合，第一电机作为转角电机满负荷工作，同时启动双绕组电机的两套绕组，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机的两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的两套绕组；43) When the assisting torque required by the system is greater than the sum of the maximum assisting torque that can be provided by the first set of windings of the first motor and the dual-winding motor, and less than or equal to the maximum assisting torque that the first motor and the dual-winding motor can provide when the two sets of windings work at the same time The one-way clutch is closed, the first motor works at full load as the angle motor, and the two sets of windings of the dual-winding motor are started at the same time. The relay contact a is connected to the contact c, and the contact b is connected to the contact d. Contact a is connected to contact e, and contact b is connected to contact f. The two sets of windings of the dual-winding motor work as torque motors at the same time, and the displacement of the steering tie rod depends on the two sets of windings of the first motor and the dual-winding motor;

44)当***所需助力转矩大于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩之和，第一电机和双绕组电机同时满负荷工作，电磁离合器单元同时控制电磁离合器闭合，线控转向和机械转向同时进行，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机、双绕组电机的两套绕组和方向盘输入的力矩；44) When the required assist torque of the system is greater than the sum of the maximum assist torque provided by the two sets of windings of the first motor and the dual-winding motor at the same time, the first motor and the dual-winding motor work at full load at the same time, and the electromagnetic clutch unit is controlled at the same time The electromagnetic clutch is closed, the wire-controlled steering and the mechanical steering are performed at the same time, the one-way clutch is closed, the first motor is used as the angle motor, the relay contact a is connected to the contact c, the contact b is connected to the contact d, and the contact a is connected to the contact e. The contact b is connected to the contact f. The two sets of windings of the dual-winding motor work as a torque motor at the same time, and the displacement of the steering tie rod depends on the torque input by the first motor, the two sets of windings of the dual-winding motor and the steering wheel;

45)当第一电机故障时，单向离合器断开，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机作为转角电机，转向横拉杆位移取决于双绕组电机的两套绕组，触发故障报警单元，提醒驾驶员故障信息；45) When the first motor fails, the one-way clutch is disconnected, relay contact a is connected to contact c, contact b is connected to contact d, contact a is connected to contact e, and contact b is connected to contact f, dual winding The motor is used as a corner motor, and the displacement of the steering tie rod depends on the two sets of windings of the dual-winding motor, triggering a fault alarm unit to remind the driver of fault information;

46)当双绕组电机两套绕组均故障时，继电器所有触点断开，单向离合器闭合，第一电机作为转角电机，转向横拉杆位移取决于第一电机，触发故障报警单元；46) When both sets of windings of the dual-winding motor are faulty, all the contacts of the relay are disconnected, the one-way clutch is closed, the first motor is used as the angle motor, the displacement of the steering tie rod depends on the first motor, and the fault alarm unit is triggered;

47)当第一电机故障且双绕组电机的第一套绕组故障时，单向离合器断开，继电器触点a连接触点e，触点b连接触点f，双绕组电机的第二套绕组作为转角电机，转向横拉杆位移取决于双绕组电机的第二套绕组，触发故障报警单元，提醒驾驶员故障信息；47) When the first motor fails and the first set of windings of the dual-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected to the contact e, the contact b is connected to the contact f, and the second set of windings of the dual-winding motor As a corner motor, the displacement of the steering tie rod depends on the second set of windings of the dual-winding motor, which triggers a fault alarm unit to remind the driver of fault information;

48)当第一电机故障且双绕组电机的第二套绕组故障时，单向离合器断开，继电器触点 a连接触点c，触点b连接触点d，双绕组电机的第一套绕组作为转角电机，转向横拉杆位移取决于双绕组电机的第一套绕组，触发故障报警单元，提醒驾驶员故障信息；48) When the first motor fails and the second set of windings of the dual-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected to the contact c, and the contact b is connected to the contact d. The first set of windings of the dual-winding motor As a corner motor, the displacement of the steering tie rod depends on the first set of windings of the dual-winding motor, which triggers the fault alarm unit to remind the driver of fault information;

49)当双绕组电机的第一套绕组故障时，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点e，触点b连接触点f，双绕组电机的第二套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第二套绕组，触发故障报警单元，提醒驾驶员故障信息；49) When the first winding of the dual-winding motor fails, the one-way clutch is closed, the first motor is used as a corner motor, and the relay contact a is connected to contact e, and the contact b is connected to contact f. The second set of the dual-winding motor The winding is used as a torque motor, and the displacement of the steering tie rod depends on the first motor and the second set of windings of the dual-winding motor, triggering a fault alarm unit to remind the driver of fault information;

50)当双绕组电机的第二套绕组故障时，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点c，触点b连接触点d，双绕组电机的第一套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第一套绕组，触发故障报警单元，提醒驾驶员故障信息；50) When the second set of windings of the dual-winding motor fails, the one-way clutch is closed, the first motor is used as a corner motor, the relay contact a is connected to the contact c, and the contact b is connected to the contact d. The first set of the dual-winding motor The winding is used as a torque motor, and the displacement of the steering tie rod depends on the first set of windings of the first motor and the dual-winding motor, which triggers the fault alarm unit to remind the driver of fault information;

51)当第一电机和双绕组电机的两套绕组均出现故障时，单向离合器断开，继电器所有触点均断开，电磁离合器闭合，转向横拉杆位移取决于方向盘输入的转矩，触发故障报警单元，并提示驾驶员进行紧急制动操作。51) When the two sets of windings of the first motor and the dual-winding motor are both faulty, the one-way clutch is disconnected, all contacts of the relay are disconnected, the electromagnetic clutch is closed, and the displacement of the steering tie rod depends on the torque input from the steering wheel, which is triggered Fault alarm unit, and prompt the driver to perform emergency braking operation.

进一步地，所述步骤4)具体还包括：路感电机输出的反馈力矩通过第一蜗轮蜗杆作用在第一转向管柱上，然后传递至方向盘，给驾驶员提供驾驶路感；第一电机输出的助力力矩经单向离合器、第二蜗轮蜗杆、第二转向管柱作用在滚珠丝杆上，转化为转向横拉杆的位移；双绕组电机输出的助力转矩经减速机构作用在滚珠丝杆上，转化为转向横拉杆的位移；第一电机和双绕组电机对转向横拉杆作用的位移进行叠加，并向转向梯形和转向车轮输出，转换为下一时刻的前轮转角。Further, the step 4) specifically includes: the feedback torque output by the road-sensing motor acts on the first steering column through the first worm gear and then is transmitted to the steering wheel to provide the driver with driving road-sensing; the first motor output The boosting torque is acted on the ball screw via the one-way clutch, the second worm gear and the second steering column, and converted into the displacement of the steering tie rod; the boosting torque output by the dual-winding motor acts on the ball screw via the deceleration mechanism , Converted into the displacement of the steering tie rod; the first motor and the dual-winding motor superimpose the displacement of the steering tie rod, and output to the steering trapezoid and the steering wheel, which is converted into the front wheel angle at the next moment.

进一步地，所述步骤4)具体还包括：采用模糊PID控制，能实时调整控制器参数，具体步骤如下：Further, the step 4) specifically includes: adopting fuzzy PID control to adjust the controller parameters in real time. The specific steps are as follows:

52)在车辆行驶过程中，转向决策单元计算出下一时刻期望的转向横拉杆位移x _c，位移传感器采集当前时刻转向横拉杆实际位移x； 52) During the driving of the vehicle, the steering decision unit calculates the expected steering tie rod displacement x _c at the next moment, and the displacement sensor collects the actual steering tie rod displacement x at the current moment;

53)以下一时刻期望的转向横拉杆位移和当前时刻转向横拉杆实际位移的偏差e和偏差变化率e _c作为控制器的输入量； 53) The deviation e between the expected steering tie rod displacement at the next moment and the actual displacement of the steering tie rod at the current moment and the deviation change rate e _{c are} used as the input of the controller;

54)偏差e和偏差变化率e _c经由模糊控制器的模糊推理，按照模糊规则输出调节量ΔK _p、ΔKi、ΔK _d，实施对PID控制器的参数K _p、K _i、K _d进行调整，保证对转向横拉杆位移的控制效果；随车辆动态参数的实时调整之后的PID控制参数为： 54) and the deviation change rate deviation e _C e fuzzy controller via fuzzy inference, the fuzzy rules in accordance with the output of the adjustment amount ΔK _p, ΔKi, ΔK _d, embodiments of the parameters of the PID controller K _p, K _i, K _d is adjusted, Ensure the control effect on the displacement of the steering tie rod; the PID control parameters after real-time adjustment of the vehicle dynamic parameters are:

其中，K _p0、K _i0、K _d0为PID控制器的初始参数； Among them, K _p0 , K _i0 , K _d0 are the initial parameters of the PID controller;

55)循环上述控制，直至达到期望的转向横拉杆位移，完成转向动作。55) Loop the above control until the desired steering tie rod displacement is reached, and the steering action is completed.

进一步地，上述模糊PID控制具体还包括：Further, the above-mentioned fuzzy PID control specifically includes:

56)输入量偏差e和偏差变化率e _c的模糊论域分别为[-10,10]、[-1,1]，输出量ΔK _p、ΔKi、ΔK _d的模糊论域分别为[-3,3]、[-0.6,0.6]、[-3,3]；输入输出量模糊集均为{NB，NS，NM，ZO，PS，PM，PB}＝{负大，负中，负小，零，正小，正中，正大}；输入输出量的模糊论域值均为{-3，-2，-1,0,1,2,3}，输入输出量的均服从三角隶属度函数曲线分布； 56) The fuzzy fields of input deviation e and deviation change rate e _c are [-10,10], [-1,1], and the fuzzy fields of _{output ΔK p} , ΔKi, and ΔK _{d are [-3} ,3], [-0.6,0.6], [-3,3]; fuzzy sets of input and output are {NB, NS, NM, ZO, PS, PM, PB} = {large negative, medium negative, small negative , Zero, positive small, middle, positive}; the fuzzy domain values of the input and output are all {-3, -2, -1,0,1,2,3}, and the input and output are all subject to the triangular membership function Curve distribution

57)模糊控制规则如下：当偏差e较大时，取较大的ΔK _p和较小的ΔK _i、ΔK _d值；当偏差e中等时，取较小的ΔK _p和适中的ΔK _i、ΔK _d值；当偏差e较小时，取较大的ΔK _p、ΔK _i值，取适中的ΔK _d值；当偏差e _c较大时，取较小的ΔK _d值；当偏差e _c较小时，取适中的ΔK _d值； 57) The fuzzy control rules are as follows: when the deviation e is large, take the larger ΔK _p and small ΔK _i and ΔK _d ; when the deviation e is medium, take the small ΔK _p and moderate ΔK _i , ΔK _d value; when the deviation e is small, take the larger ΔK _p and ΔK _i values, and take the moderate ΔK _d value; when the deviation e _{c is} large, take the small ΔK _d value; when the deviation e _{c is} small, Take a moderate ΔK _d value;

58)根据以上模糊控制规则，建立ΔK _P、ΔKi、ΔK _d的模糊规则表，从而得到模糊PID控制器调整后的控制参数。 58) According to the above fuzzy control rules, _{a fuzzy rule table of ΔK P} , ΔKi and ΔK _d is established to obtain the control parameters adjusted by the fuzzy PID controller.

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

本发明融合了双绕组电机的功能，双绕组电机两套绕组同时工作的工作模式，相比于单绕组电机能输出更大的转矩，相比于双绕组电动液压助力转向***，具备更快的响应速度和更低的能耗；The present invention combines the functions of a dual-winding motor. The dual-winding motor has a working mode in which two sets of windings work at the same time. Compared with a single-winding motor, it can output a larger torque and is faster than a dual-winding electro-hydraulic power steering system. Response speed and lower energy consumption;

本发明具有电机、电机绕组双重硬件冗余功能；单个电机出现故障，由另一个电机驱动完成转向动作；双绕组电机的单个绕组出现故障，由另一个绕组驱动完成转向动作，进一步提高的双电机线控转向***的可靠性，增强了车辆安全性；The invention has dual hardware redundancy functions of motor and motor winding; when a single motor fails, another motor is driven to complete the steering action; when a single winding of a dual-winding motor fails, the other winding is driven to complete the steering action, which is a further improved double motor The reliability of the steer-by-wire system enhances the safety of the vehicle;

本发明采用模糊PID控制方法，可根据车辆当前状态对控制器的参数进行实时调整，具有较强的抗干扰能力和较好的鲁棒性，保证了转向执行的精准度和车辆行驶的安全性。The invention adopts the fuzzy PID control method, can adjust the parameters of the controller in real time according to the current state of the vehicle, has strong anti-interference ability and better robustness, and ensures the accuracy of steering execution and the safety of vehicle driving. .

附图说明Description of the drawings

图1为本发明基于双绕组电机的双电机线控转向***原理结构框图；Figure 1 is a block diagram of the principle structure of a dual-motor-by-wire steering system based on a dual-winding motor of the present invention;

图2为本发明电机驱动单元工作模式切换流程图；Figure 2 is a flow chart of switching the working mode of the motor drive unit of the present invention;

图3为本发明双绕组电机工作模式切换原理结构图；Fig. 3 is a structural diagram of the principle of switching working modes of a dual-winding motor of the present invention;

图4为本发明控制方法流程图；Figure 4 is a flow chart of the control method of the present invention;

图5为本发明模糊PID控制原理结构图；Figure 5 is a structural diagram of the fuzzy PID control principle 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-第一电机，8-第三转矩传感器，9-单向离合器，10-第二蜗轮蜗杆，11-第二转向管柱，12-转向车轮，13-转向梯形，14-转向横拉杆，15-螺母，16-滚珠丝杆，17-位移传感器，18-减速机构，19-双绕组电机输出轴，20-第二套绕组，21-第一套绕组，22-第二电流传感器，23-继电器控制单元，24-双绕组电机模块，25-第一电流传感器，26-车辆其它状态单元，27-主控制器，28-路感电机，29-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 motor, 8-third Torque sensor, 9-one-way clutch, 10-second worm gear, 11-second steering column, 12-steering wheel, 13-steering trapezoid, 14-steering tie rod, 15-nut, 16-ball screw , 17-Displacement sensor, 18-Deceleration mechanism, 19-Double winding motor output shaft, 20-Second winding, 21-First winding, 22-Second current sensor, 23-Relay control unit, 24-Double winding Motor module, 25-first current sensor, 26-other vehicle status units, 27-main controller, 28-road sensor motor, 29-second torque sensor;

A-转角信号，B-第一转矩信号，C-第二转矩信号，D-第三转矩信号，E-第一电流信号，F-第二电流信号，G-转向横拉杆位移信号，H-第一电机控制信号，I-双绕组电机控制信号，J-路感电机控制信号，K-电磁离合器控制信号，M-车速信号，N-横摆角速度信号；A-Rotation angle signal, B-First torque signal, C-Second torque signal, D-Third torque signal, E-First current signal, F-Second current signal, G-Tie rod displacement signal , H-first motor control signal, I-double winding motor control signal, J-path induction motor control signal, K-electromagnetic clutch control signal, M-vehicle speed signal, N-yaw rate signal;

T-***所需助力转矩，T ₁-第一电机所能提供最大助力转矩，T _d1-双绕组电机第一套绕组所能提供最大助力转矩，T _d1+T _d2-双绕组电机两套绕组所能提供的最大助力转矩。 T- system required boost torque, T ₁ -the maximum boost torque that the first motor can provide, T _d1 -the maximum boost torque that the first set of windings of the dual-winding motor can provide, T _d1 +T _d2 -the dual-winding motor The maximum boost torque that two sets of windings can provide.

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至图3所示，本发明的一种基于双绕组电机的双电机线控转向***，包括：方向盘1、转向管柱总成、路感总成、双电机转向执行装置、转向控制单元、电磁离合器6；其中Referring to Figures 1 to 3, a dual-motor-by-wire steering system based on dual-winding motors of the present invention includes: steering wheel 1, steering column assembly, road sensing assembly, dual-motor steering actuator, steering control Unit, electromagnetic clutch 6; among them

所述方向盘1连接转向管柱总成，转向管柱总成包括：第一转向管柱3、第一转矩传感器4、转角传感器2；方向盘1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、转角传感器2；The steering wheel 1 is connected to a steering column assembly. The steering column assembly includes: a first steering column 3, a first torque sensor 4, and a rotation angle sensor 2. The force input by the steering wheel 1 acts on the first steering column 3 On the road sensing 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28、第二转矩传感器29、第一蜗轮蜗杆5；路感电机28输出端经过第二转矩传感器29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28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 28, a second torque sensor 29, and a first worm gear 5; the output end of the road sensing motor 28 is connected to the worm gear end of the first worm gear 5 through the second torque sensor 29, 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 28 is transmitted to the steering wheel 1 through the first worm gear 5 and the first steering column 3 in turn;

所述双电机转向执行装置包括：第一电机模块、双绕组电机模块24、转向横拉杆14、转向梯形13、转向车轮12；The dual-motor steering actuator includes: a first motor module, a dual-winding motor module 24, a steering tie rod 14, a steering trapezoid 13, and a steering wheel 12;

第一电机模块包括：第一电机7、第三转矩传感器8、单向离合器9、第二蜗轮蜗杆10、第二转向管柱11、滚珠丝杆16、位移传感器17；位移传感器17安装在滚珠丝杆16上，第一电机7的输出端依次通过第三转矩传感器8、单向离合器9、第二蜗轮蜗杆10、第二转向管柱11连接到滚珠丝杆16的螺母15；滚珠丝杆16的丝杆端将转向横拉杆14打断，滚珠丝杆16两端与转向横拉杆14被打断的两个端口轴向固定连接；第一电机7输出的旋转运动经单向离合器9、第二蜗轮蜗杆10转换为第二转向管柱11的旋转运动，第二转向管柱11的旋转运动又经过滚珠丝杆16转换为转向横拉杆14的位移运动；The first motor module includes: a first motor 7, a third torque sensor 8, a one-way clutch 9, a second worm gear 10, a second steering column 11, a ball screw 16, and a displacement sensor 17; the displacement sensor 17 is installed in On the ball screw 16, the output end of the first motor 7 is sequentially connected to the nut 15 of the ball screw 16 through the third torque sensor 8, the one-way clutch 9, the second worm gear 10, and the second steering column 11; The threaded rod end of the threaded rod 16 breaks the steering tie rod 14, and the two ends of the ball threaded rod 16 are axially fixedly connected with the two ports where the steering tie rod 14 is interrupted; the rotational motion output by the first motor 7 is through a one-way clutch 9. The second worm gear 10 is converted into the rotation movement of the second steering column 11, and the rotation movement of the second steering column 11 is converted into the displacement movement of the steering tie rod 14 through the ball screw 16;

双绕组电机模块24包括：继电器控制单元23、双绕组电机、第一电流传感器25、第二电流传感22、减速机构18；The dual-winding motor module 24 includes: a relay control unit 23, a dual-winding motor, a first current sensor 25, a second current sensor 22, and a speed reduction mechanism 18;

继电器控制单元23包括：继电器控制器及继电器；继电器控制器的输入端连接转向控制单元，继电器控制器的输出端连接继电器；The relay control unit 23 includes: a relay controller and a relay; the input end of the relay controller is connected to the steering control unit, and the output end of the relay controller is connected to the relay;

双绕组电机包括：定子铁芯、转子组件、机座、第一套绕组21、第二套绕组20、双绕组电机输出轴19；The dual-winding motor includes: a stator core, a rotor assembly, a frame, a first set of windings 21, a second set of windings 20, and a dual-winding motor output shaft 19;

减速机构包括：小齿轮、皮带、大齿轮；小齿轮沿轴向固定在双绕组电机输出轴上，皮带连接小齿轮和大齿轮，大齿轮内部带有螺纹，沿轴向套在滚珠丝杆16上；The reduction mechanism includes: pinion, belt, and large gear; the pinion is axially fixed on the output shaft of the dual-winding motor, and the belt connects the pinion and the large gear. The large gear has threads inside and is sleeved on the ball screw 16 in the axial direction. on;

所述转向控制单元包括：主控制器27和车辆其它状态单元26；主控制器27的输入端与上述各传感器电气连接，并获取第一转矩信号、第二转矩信号、第三转矩信号、第一电流信号、第二电流信号、转角信号、转向横拉杆位移信号；车辆其它状态单元为主控制器提供当前车辆状态的车速信号和横摆角速度信号；主控制器的输出端连接路感总成、电磁离合器、第一电机、继电器控制单元；The steering control unit includes: a main controller 27 and other vehicle status units 26; the input of the main controller 27 is electrically connected to the above-mentioned sensors, and obtains the first torque signal, the second torque signal, and the third torque. Signal, first current signal, second current signal, rotation angle signal, steering tie rod displacement signal; other vehicle state units provide the main controller with the current vehicle state speed signal and yaw rate signal; the main controller's output terminal connection circuit Sensor assembly, electromagnetic clutch, first motor, relay control unit;

所述电磁离合器6包括：衔铁、主动轴、从动轴、电磁铁、摩擦片组；主动轴沿轴向固定在第一转向管柱3，从动轴沿轴向固定在第二转向管柱11，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 6 includes an armature, a driving shaft, a driven shaft, an electromagnet, and a friction plate group; the driving shaft is fixed to the first steering column 3 in the axial direction, and the driven shaft is fixed to the second steering column in the axial direction 11. 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 output by the main controller The control signal controls the on and off of the coil, and then controls the coupling and disengagement of the electromagnetic clutch.

其中，所述双绕组电机输出轴19相对于转向横拉杆14平行布置，经减速机构18连接到滚珠丝杆16上；双绕组电机输出轴19的旋转运动转换为小齿轮的旋转运动，小齿轮的旋转运动通过皮带转换为大齿轮的旋转运动，大齿轮的旋转运动通过滚珠丝杆16转换为转向横拉杆14的位移运动；Wherein, the dual-winding motor output shaft 19 is arranged in parallel with respect to the steering tie rod 14, and is connected to the ball screw 16 via the reduction mechanism 18; the rotation movement of the dual-winding motor output shaft 19 is converted into the rotation movement of the pinion, and the pinion is The rotation movement of the gear is converted into the rotation movement of the large gear through the belt, and the rotation movement of the large gear is converted into the displacement movement of the steering tie rod 14 through the ball screw 16;

其中，所述滚珠丝杆的螺母15带动滚珠丝杆的位移和大齿轮旋转带动所述丝杆16的位移在转向横拉杆14上进行叠加，进而带动转向梯形13和转向车轮12完成转向动作。Wherein, the nut 15 of the ball screw drives the displacement of the ball screw and the large gear rotation drives the displacement of the screw 16 to be superimposed on the steering tie rod 14, thereby driving the steering trapezoid 13 and the steering wheels 12 to complete the steering action.

其中，所述双绕组电机为无刷直流电机。Wherein, the dual-winding motor is a brushless DC motor.

其中，所述第一电流传感器和第二电流传感器为霍尔电流传感器。Wherein, the first current sensor and the second current sensor are Hall current sensors.

其中，所述主控制器包括信号处理单元、转向决策单元、转向数据库、诊断单元、故障报警单元、电机驱动单元和电磁离合器驱动单元；信号处理单元与上述各传感器电气连接，获取各传感器实时采集的信号，同时信号处理单元与上述车辆其它状态单元电气连接，获取车辆的其它状态信号；转向决策单元分别通过车载通讯线路接收信号处理单元、转向数据库和诊断单元的输入信号，经过计算通过车载通讯线路分别向电机驱动单元和电磁离合器驱动单元输出指令，电机驱动单元输出路感电机、第一电机、双绕组电机的控制信号，电磁离合器驱动单元输出电磁离合器控制信号，完成转向动作的控制过程；诊断单元用于检测车辆行驶过程中***是否正常工作；故障报警单元用于提醒驾驶员故障信息；转向数据库中存储的各车辆状态下期望的车辆前轮转角和期望的驾驶路感。Wherein, the main controller includes a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, a motor drive unit, and an electromagnetic clutch drive unit; the signal processing unit is electrically connected to each of the above-mentioned sensors to obtain real-time acquisition of each sensor At the same time, the signal processing unit is electrically connected to the above-mentioned vehicle status unit to obtain other status signals of the vehicle; the steering decision unit receives the input signals of the signal processing unit, the steering database and the diagnosis unit through the on-board communication line, and then calculates through the on-board communication The circuit respectively outputs instructions to the motor drive unit and the electromagnetic clutch drive unit. The motor drive unit outputs the control signals of the road induction motor, the first motor and the dual-winding motor, and the electromagnetic clutch drive unit outputs the electromagnetic clutch control signal to complete the control process of the steering action; The diagnosis unit is used to detect whether the system is working normally while the vehicle is running; the fault alarm unit is used to remind the driver of fault information; the steering database stores the expected front wheel angle of the vehicle and the expected driving feeling under each vehicle state.

其中，所述电磁铁包括：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、滚珠丝杆传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。Wherein, the electromagnet includes: 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 is energized, 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 passes through the first steering column, the electromagnetic clutch, the second steering column, and the ball screw Transfer to the steering tie rod, steering trapezoid and steering wheels to complete the steering action.

参照图4所示，本发明的一种基于双绕组电机的双电机线控转向***的控制方法，基于上述***，包括以下步骤：Referring to Fig. 4, a control method of a dual-motor-by-wire steering system based on a dual-winding motor of the present invention, based on the above-mentioned system, 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)信号处理单元实时接收转角信号A，第一转矩信号B，第二转矩信号C，第三转矩信号D，第一电流信号E，第二电流信号F，转向横拉杆位移信号G，车速信号M，横摆角速度信号N，通过计算得到当前车辆状态信号，并传输给转向决策单元；2) The signal processing unit receives in real time the rotation angle signal A, the first torque signal B, the second torque signal C, the third torque signal D, the first current signal E, the second current signal F, and the tie rod displacement signal G , The vehicle speed signal M, the yaw rate signal N, the current vehicle state signal is obtained through calculation, and transmitted to the steering decision unit;

4)诊断单元在车辆行驶过程中，检测***是否正常工作，电机驱动单元根据转向决策单元的输出指令，选择不同的工作模式，分别输出路感电机控制信号J、第一电机控制信号H、包含第一套绕组和第二套绕组工作状态的双绕组电机控制信号I，继电器控制器根据双绕组电机控制信号判断第一套绕组和第二套绕组工作状态，进而控制继电器内部触点的连接方式；同时，电磁离合器驱动单元根据转向决策单元的输出指令输出电磁离合器控制信号K，控制电磁离合器的结合和分离。4) The diagnosis unit detects whether the system is working normally during the driving of the vehicle. The motor drive unit selects different working modes according to the output instructions of the steering decision unit, and respectively outputs the road sensor motor control signal J, the first motor control signal H, and The dual-winding motor control signal I of the working state of the first set of windings and the second set of windings, the relay controller judges the working state of the first set of windings and the second set of windings according to the dual-winding motor control signal, and then controls the connection mode of the internal contacts of the relay ; At the same time, the electromagnetic clutch drive unit outputs an electromagnetic clutch control signal K according to the output instruction of the steering decision unit to control the coupling and disengagement of the electromagnetic clutch.

所述步骤4)电机驱动单元工作模式的选择具体包括以下步骤：The step 4) the selection of the working mode of the motor drive unit specifically includes the following steps:

41)当***所需助力转矩T小于等于第一电机所能提供的最大助力转矩T ₁，单向离合器闭合，启动第一电机，第一电机作为转角电机，转向横拉杆位移取决于第一电机； 41) When the required boost torque T of the system is less than or equal to the maximum boost torque T ₁ that the first motor can provide, the one-way clutch is closed and the first motor is started. The first motor is used as the angle motor, and the displacement of the tie rod depends on the first motor. A motor

42)当***所需助力转矩大于第一电机所能提供的最大助力转矩，小于等于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩T _d1之和，单向离合器闭合，第一电机作为转角电机满负荷工作，继电器触点a连接触点c，触点b连接触点d，启动双绕组电机的第一套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第一套绕组； 42) When the assisting torque required by the system is greater than the maximum assisting torque that the first motor can provide, and less than or equal to the sum of the maximum assisting torque T _{d1 that} the first motor and the first set of windings of the dual-winding motor can provide, single When the clutch is closed, the first motor works as a corner motor at full load, relay contact a is connected to contact c, and contact b is connected to contact d. The first winding of the dual-winding motor is started as a torque motor. The displacement of the steering tie rod depends on The first set of windings for the first motor and dual-winding motor;

43)当***所需助力转矩大于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩之和，小于等于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩T _d1+T _d2之和，单向离合器闭合，第一电机作为转角电机满负荷工作，同时启动双绕组电机的两套绕组，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机的两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的两套绕组； 43) When the assisting torque required by the system is greater than the sum of the maximum assisting torque provided by the first set of windings of the first motor and the dual-winding motor, and less than or equal to the maximum assisting torque that the first motor and the dual-winding motor can provide at the same time The sum of the maximum boost torque T _d1 + T _d2 , the one-way clutch is closed, the first motor works as a corner motor at full load, and the two sets of windings of the dual-winding motor are started at the same time. The relay contact a is connected to the contact c and the contact b Connect contact d, contact a connects to contact e, and contact b connects to contact f. The two sets of windings of the dual-winding motor work as torque motors at the same time. The displacement of the steering tie rod depends on the two of the first motor and the dual-winding motor. Sleeve winding

44)当***所需助力转矩大于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩之和，第一电机和双绕组电机同时满负荷工作，电磁离合器单元同时控制电磁离合器闭合，线控转向和机械转向同时进行，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机、双绕组电机的两套绕组和方向盘输入的力矩；44) When the required boost torque of the system is greater than the sum of the maximum boost torque that can be provided by the two sets of windings of the first motor and the dual winding motor at the same time, the first motor and the dual winding motor work at full load at the same time, and the electromagnetic clutch unit is controlled at the same time The electromagnetic clutch is closed, the wire-controlled steering and the mechanical steering are performed at the same time, the one-way clutch is closed, the first motor is used as the angle motor, the relay contact a is connected to the contact c, the contact b is connected to the contact d, and the contact a is connected to the contact e. The contact b is connected to the contact f. The two sets of windings of the dual-winding motor work as a torque motor at the same time, and the displacement of the steering tie rod depends on the torque input by the first motor, the two sets of windings of the dual-winding motor and the steering wheel;

45)当第一电机故障时，单向离合器断开，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机作为转角电机，转向横拉杆位移取决于双绕组电机的两套绕组，触发故障报警单元，提醒驾驶员故障信息；45) When the first motor fails, the one-way clutch is disconnected, relay contact a is connected to contact c, contact b is connected to contact d, contact a is connected to contact e, and contact b is connected to contact f, dual winding The motor is used as a corner motor, and the displacement of the steering tie rod depends on the two sets of windings of the dual-winding motor, which triggers a fault alarm unit to remind the driver of fault information;

46)当双绕组电机两套绕组均故障时，继电器所有触点断开，单向离合器闭合，第一电机作为转角电机，转向横拉杆位移取决于第一电机，触发故障报警单元，提醒驾驶员故障信息；46) When both sets of windings of the dual-winding motor are faulty, all the contacts of the relay are disconnected, the one-way clutch is closed, the first motor is used as the angle motor, the displacement of the steering tie rod depends on the first motor, and the fault alarm unit is triggered to remind the driver accident details;

48)当第一电机故障且双绕组电机的第二套绕组故障时，单向离合器断开，继电器触点a连接触点c，触点b连接触点d，双绕组电机的第一套绕组作为转角电机，转向横拉杆位移取决于双绕组电机的第一套绕组，触发故障报警单元，提醒驾驶员故障信息；48) When the first motor fails and the second set of windings of the dual-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected to the contact c, and the contact b is connected to the contact d. The first set of windings of the dual-winding motor As a corner motor, the displacement of the steering tie rod depends on the first set of windings of the dual-winding motor, which triggers the fault alarm unit to remind the driver of fault information;

所述步骤4)具体还包括：路感电机输出的反馈力矩通过第一蜗轮蜗杆作用在第一转向管柱上，然后传递至方向盘，给驾驶员提供驾驶路感；第一电机输出的助力力矩经单向离合器、第二蜗轮蜗杆、第二转向管柱作用在滚珠丝杆上，转化为转向横拉杆的位移；双绕组电机输出的助力转矩经减速机构作用在滚珠丝杆上，转化为转向横拉杆的位移；第一电机和双绕组电机对转向横拉杆作用的位移进行叠加，并向转向梯形和转向车轮输出，转换为下一时刻的前轮转角。The step 4) specifically further includes: the feedback torque output by the road sensing motor acts on the first steering column through the first worm gear and then is transmitted to the steering wheel to provide the driver with driving road feeling; the boosting torque output by the first motor The one-way clutch, the second worm gear, and the second steering column act on the ball screw and transform it into the displacement of the steering tie rod; the boost torque output by the dual-winding motor acts on the ball screw through the deceleration mechanism to transform it into The displacement of the steering tie rod; the first motor and the dual-winding motor superimpose the displacement of the steering tie rod, and output to the steering trapezoid and the steering wheel, which is converted into the front wheel angle at the next moment.

参照图5所示，所述步骤4)具体还包括：采用模糊PID控制，能实时调整控制器参数，具体步骤如下：Referring to Fig. 5, the step 4) specifically includes: adopting fuzzy PID control to adjust the controller parameters in real time. The specific steps are as follows:

54)偏差e和偏差变化率e _c经由模糊控制器的模糊推理，按照模糊规则输出调节量ΔK _p、ΔKi、ΔK _d，实施对PID控制器的参数K _p、K _i、K _d进行调整，使得PID控制参数对汽车转向的各种运动状态有很好的控制效果，保证对转向横拉杆位移的控制效果；随车辆动态参数的实时调整之后的PID控制参数为： 54) and the deviation change rate deviation e _C e fuzzy controller via fuzzy inference, the fuzzy rules in accordance with the output of the adjustment amount ΔK _p, ΔKi, ΔK _d, embodiments of the parameters of the PID controller K _p, K _i, K _d is adjusted, Make the PID control parameters have a good control effect on the various motion states of the car steering, and ensure the control effect on the displacement of the steering tie rod; the PID control parameters after real-time adjustment of the vehicle dynamic parameters are:

上述模糊PID控制具体还包括：The above-mentioned fuzzy PID control also specifically includes:

58)根据以上模糊控制规则，建立表1-表3所示的ΔK _P、ΔKi、ΔK _d的模糊规则表，从而得到模糊PID控制器调整后的控制参数。如下： 58) According to the above fuzzy control rules, _{the fuzzy rule tables of ΔK P} , ΔKi and ΔK _d shown in Table 1 to Table 3 are established to obtain the control parameters adjusted by the fuzzy PID controller. as follows:

表1Table 1

表2Table 2

表3table 3

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

一种基于双绕组电机的双电机线控转向***，其特征在于，包括：方向盘、转向管柱总成、路感总成、双电机转向执行装置、转向控制单元、电磁离合器；其中，A dual-motor-by-wire steering system based on dual-winding motors is characterized by comprising: a steering wheel, a steering column assembly, a road sensing assembly, a dual-motor steering actuator, a steering control unit, 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：第一转向管柱、第一转矩传感器及转角传感器；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、转角传感器；The steering wheel is connected to the steering column assembly, and the steering column assembly includes: a first steering column, a first torque sensor, and a rotation angle 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 worm of the first worm gear The end 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;

所述双电机转向执行装置包括：第一电机模块、双绕组电机模块、转向横拉杆、转向梯形、转向车轮；The dual-motor steering actuator includes: a first motor module, a dual-winding motor module, a steering tie rod, a steering trapezoid, and steering wheels;

第一电机模块包括：第一电机、第三转矩传感器、单向离合器、第二蜗轮蜗杆、第二转向管柱、滚珠丝杆、位移传感器；位移传感器安装在滚珠丝杆上，第一电机的输出端依次通过第三转矩传感器、单向离合器、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；第一电机输出的旋转运动经单向离合器、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；The first motor module includes: a first motor, a third torque sensor, a one-way clutch, a second worm gear, a second steering column, a ball screw, and a displacement sensor; the displacement sensor is installed on the ball screw, and the first motor The output end of the ball screw is connected to the nut of the ball screw through the third torque sensor, the one-way clutch, the second worm gear, and the second steering column in turn; the screw end of the ball screw interrupts the steering tie rod, and the ball screw Both ends are axially fixedly connected with the two ports where the steering tie rod is broken; the rotary motion output by the first motor is converted into the rotary motion of the second steering column by the one-way clutch and the second worm gear, and the second steering column The rotation movement of the ball screw is converted into the displacement movement of the steering tie rod;

双绕组电机模块包括：继电器控制单元、双绕组电机、第一电流传感器、第二电流传感、减速机构；The dual-winding motor module includes: a relay control unit, a dual-winding motor, a first current sensor, a second current sensor, and a deceleration mechanism;

继电器控制单元包括：继电器控制器及继电器；继电器控制器的输入端连接转向控制单元，继电器控制器的输出端连接继电器；The relay control unit includes: a relay controller and a relay; the input end of the relay controller is connected to the steering control unit, and the output end of the relay controller is connected to the relay;

双绕组电机包括：定子铁芯、转子组件、机座、第一套绕组、第二套绕组、双绕组电机输出轴；The dual-winding motor includes: stator core, rotor assembly, frame, first set of windings, second set of windings, and dual-winding motor output shaft;

第一套绕组包括A相绕组、B相绕组、C相绕组；第二套绕组包括a相绕组、b相绕组、c相绕组；第一套绕组输入端分为三条支路，分别连接A相绕组输入端、B相绕组输入端、C相绕组输入端；第二套绕组输入端分为三条支路，分别连接a相绕组输入端、b相绕组输入端、c相绕组输入端；The first set of windings includes A-phase windings, B-phase windings, and C-phase windings; the second set of windings includes a-phase windings, b-phase windings, and c-phase windings; the input end of the first set of windings is divided into three branches, which are connected to phase A respectively Winding input terminal, B-phase winding input terminal, C-phase winding input terminal; the second set of winding input terminal is divided into three branches, respectively connected to the a-phase winding input terminal, the b-phase winding input terminal, and the c-phase winding input terminal;

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电流传感器连接，第二套绕组的输入端与第二电流传感器连接；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 current sensor, and the input end of the second set of windings is connected to the second current sensor;

转子组件包括：转子铁芯、转子绕组；转子绕组绕在转子铁芯上，转子铁芯固定在双绕组电机输出轴上；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输出轴将转矩输出；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 of the dual winding motor; the first set of windings and the second set of windings work at the same time to generate a synthetic magnetic field. The induced current is generated in the rotor winding, and the induced current drives the rotor core to rotate under the action of the magnetic field, and the rotor core outputs the torque through the output shaft of the dual-winding motor;

减速机构包括：小齿轮、皮带、大齿轮；小齿轮沿轴向固定在双绕组电机输出轴上，皮带连接小齿轮和大齿轮，大齿轮内部带有螺纹，沿轴向套在滚珠丝杆上；The reduction mechanism includes: a small gear, a belt, and a large gear; the small gear is axially fixed on the output shaft of the dual-winding motor, and the belt connects the small gear and the large gear. The large gear has threads inside and is sleeved on the ball screw in the axial direction. ；

所述转向控制单元包括：主控制器和车辆其它状态单元；主控制器的输入端与上述各传感器电气连接，并获取第一转矩信号、第二转矩信号、第三转矩信号、第一电流信号、第二电流信号、转角信号、转向横拉杆位移信号；车辆其它状态单元为主控制器提供当前车辆状态的车速信号和横摆角速度信号；主控制器的输出端连接路感总成、电磁离合器、第一电机、继电器控制单元；The steering control unit includes: a main controller and other vehicle status units; the input of the main controller is electrically connected to the above-mentioned sensors, and obtains the first torque signal, the second torque signal, the third torque signal, and the first torque signal. A current signal, a second current signal, a rotation angle signal, and a tie rod displacement signal; other vehicle state units provide the main controller with the current vehicle state speed signal and yaw rate signal; the output terminal of the main controller is connected to the road sense assembly , Electromagnetic clutch, first motor, relay control unit;

所述电磁离合器包括：衔铁、主动轴、从动轴、电磁铁、摩擦片组；主动轴沿轴向固定在第一转向管柱，从动轴沿轴向固定在第二转向管柱，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 to the first steering column in the axial direction, the driven shaft is fixed to the second steering column in the axial direction, and the armature is It 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 control signal output by the main controller comes from Control the on and off of the coil to control the coupling and disengagement of the electromagnetic clutch.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述双绕组电机输出轴相对于转向横拉杆平行布置，经减速机构连接到滚珠丝杆上；双绕组电机输出轴的旋转运动转换为小齿轮的旋转运动，小齿轮的旋转运动通过皮带转换为大齿轮的旋转运动，大齿轮的旋转运动通过滚珠丝杆转换为转向横拉杆的位移运动。The dual-motor-by-wire steering system based on dual-winding motors according to claim 1, wherein the output shaft of the dual-winding motor is arranged in parallel with respect to the steering tie rod, and is connected to the ball screw via a reduction mechanism; The rotation movement of the motor output shaft is converted into the rotation movement of the pinion gear, the rotation movement of the pinion gear is converted into the rotation movement of the big gear through the belt, and the rotation movement of the big gear is converted into the displacement movement of the steering tie rod through the ball screw.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述滚珠丝杆的螺母带动滚珠丝杆的位移和大齿轮旋转带动所述丝杆的位移在转向横拉杆上进行叠加，进而带动转向梯形和转向车轮完成转向动作。The dual-motor-by-wire steering system based on dual-winding motors according to claim 1, wherein the nut of the ball screw drives the displacement of the ball screw and the rotation of the large gear drives the displacement of the screw. The tie rods are superimposed to drive the steering trapezoid and the steering wheels to complete the steering action.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述双绕组电机为无刷直流电机。The dual-motor-by-wire steering system based on dual-winding motors according to claim 1, wherein the dual-winding motors are brushless DC motors.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述第一电流传感器和第二电流传感器为霍尔电流传感器。The dual-motor wire-controlled steering system based on dual-winding motors according to claim 1, wherein the first current sensor and the second current sensor are Hall current sensors.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述主控制器包括：信号处理单元、转向决策单元、转向数据库、诊断单元、故障报警单元、电机驱动单元和电磁离合器驱动单元；信号处理单元与上述各传感器电气连接，获取各传感器实时采集的信号，同时信号处理单元与上述车辆其它状态单元电气连接，获取车辆的其它状态信号；转向决策单元分别通过车载通讯线路接收信号处理单元、转向数据库和诊断单元的输入信号，经过计算通过车载通讯线路分别向电机驱动单元和电磁离合器驱动单元输出指令，电机驱动单元输出路感电机、第一电机、双绕组电机的控制信号，电磁离合器驱动单元输出电磁离合器控制信号，完成转向动作的控制过程。The dual-motor-by-wire steering system based on dual-winding motors according to claim 1, wherein the main controller includes: a signal processing unit, a steering decision unit, a steering database, a diagnosis unit, a fault alarm unit, and a motor drive Unit and electromagnetic clutch driving unit; the signal processing unit is electrically connected with the above-mentioned sensors to obtain the signals collected by each sensor in real time, while the signal processing unit is electrically connected with the above-mentioned other vehicle status units to obtain other status signals of the vehicle; the steering decision unit passes through The on-vehicle communication line receives the input signals of the signal processing unit, steering database and diagnosis unit, and outputs instructions to the motor drive unit and the electromagnetic clutch drive unit through the on-board communication line after calculation, and the motor drive unit outputs the path-sensing motor, the first motor, and the dual winding For the control signal of the motor, the electromagnetic clutch drive unit outputs the electromagnetic clutch control signal to complete the control process of the steering action.
根据权利要求1所述的基于双绕组电机的双电机线控转向***，其特征在于，所述电磁铁包括线圈及磁轭；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、滚珠丝杆传递给转向横拉杆、转向梯形和转向车轮，完成转向动作。The dual-motor steer-by-wire system based on dual-winding motors according to claim 1, wherein the electromagnet includes a coil and a yoke; when the steer-by-wire is normal, the coil is not energized, the yoke and the armature are separated, 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, the second steering column, and the ball screw to complete the steering action.
一种基于双绕组电机的双电机线控转向***的控制方法，基于上述权利要求1-7中任意一项***，其特征在于，包括以下步骤：A control method of a dual-motor-by-wire steering system based on a dual-winding motor, based on any one of the above claims 1-7, is characterized in that it comprises the following steps:

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

2)信号处理单元实时接收转角信号，第一转矩信号，第二转矩信号，第三转矩信号，第一电流信号，第二电流信号，转向横拉杆位移信号，车速信号，横摆角速度信号，通过计算得到当前车辆状态信号，并传输给转向决策单元；2) The signal processing unit receives real-time rotation angle signal, first torque signal, second torque signal, third torque signal, first current signal, second current signal, tie rod displacement signal, vehicle speed signal, yaw rate Signal, the current vehicle state signal is obtained through calculation and transmitted to the steering decision unit;

3)转向决策单元根据转向数据库中存储的各个车辆状态下期望的车辆前轮转角和期望的驾驶路感对上述当前车辆状态信号进行转向决策计算，得到下一时刻期望的车辆前轮转角，并计算出下一时刻期望的车辆前轮转角对应的转向横拉杆位移；同时还得到下一时刻期望的驾驶路感，并计算出下一时刻期望的驾驶路感对应的转向管柱力矩；转向决策单元向电机驱动单元和电磁离合器控制单元输出指令；3) The steering decision unit performs the steering decision calculation on the above current vehicle state signal according to the expected front wheel angle of the vehicle and the expected driving feeling in each vehicle state stored in the steering database, and obtains the expected front wheel angle of the vehicle at the next moment, and Calculate the steering tie rod displacement corresponding to the expected front wheel angle of the vehicle at the next moment; at the same time, obtain the expected driving road feel at the next time, and calculate the steering column torque corresponding to the expected driving road feel at the next time; steering decision The unit outputs instructions to the motor drive unit and the electromagnetic clutch control unit;

4)诊断单元在车辆行驶过程中，检测***是否正常工作，电机驱动单元根据转向决策单元的输出指令，选择不同的工作模式，分别输出路感电机控制信号、第一电机控制信号、包含第一套绕组和第二套绕组工作状态的双绕组电机控制信号，继电器控制器根据双绕组电机控制信号判断第一套绕组和第二套绕组工作状态，进而控制继电器内部触点的连接方式；同时，电磁离合器驱动单元根据转向决策单元的输出指令输出电磁离合器控制信号，控制电磁离合器的结合和分离。4) The diagnosis unit detects whether the system is working normally during the driving process of the vehicle. The motor drive unit selects different working modes according to the output instructions of the steering decision unit, and respectively outputs the road sensor motor control signal, the first motor control signal, and the first motor control signal. Set the dual-winding motor control signal of the working state of the winding and the second set of windings, the relay controller judges the working state of the first set of windings and the second set of windings according to the dual-winding motor control signal, and then controls the connection mode of the internal contacts of the relay; The electromagnetic clutch driving unit outputs an electromagnetic clutch control signal according to the output instruction of the steering decision unit, and controls the coupling and disengagement of the electromagnetic clutch.
根据权利要求8所述的基于双绕组电机的双电机线控转向***的控制方法，其特征在于，所述步骤4)电机驱动单元工作模式的选择具体包括以下步骤：The control method of a dual-motor-by-wire steering system based on a dual-winding motor according to claim 8, wherein the step 4) the selection of the working mode of the motor drive unit specifically includes the following steps:

41)当***所需助力转矩小于等于第一电机所能提供的最大助力转矩，单向离合器闭合，启动第一电机，第一电机作为转角电机，转向横拉杆位移取决于第一电机；41) When the required assist torque of the system is less than or equal to the maximum assist torque that the first motor can provide, the one-way clutch is closed and the first motor is started. The first motor is used as the angle motor, and the displacement of the steering tie rod depends on the first motor;

42)当***所需助力转矩大于第一电机所能提供的最大助力转矩，小于等于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩之和，单向离合器闭合，第一电机作为转角电机满负荷工作，继电器触点a连接触点c，触点b连接触点d，启动双绕组电机的第一套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第一套绕组；42) When the assisting torque required by the system is greater than the maximum assisting torque that the first motor can provide, and less than or equal to the sum of the maximum assisting torque that the first motor and the first set of windings of the dual-winding motor can provide, the one-way clutch Closed, the first motor works as a corner motor at full load, relay contact a is connected to contact c, and contact b is connected to contact d. The first winding of the dual-winding motor is started as a torque motor. The displacement of the steering tie rod depends on the first set of windings. A motor and the first set of windings of a dual-winding motor;

43)当***所需助力转矩大于第一电机和双绕组电机第一套绕组工作所能提供的最大助力转矩之和，小于等于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩之和，单向离合器闭合，第一电机作为转角电机满负荷工作，同时启动双绕组电机的两套绕组，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机的两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的两套绕组；43) When the assisting torque required by the system is greater than the sum of the maximum assisting torque that can be provided by the first set of windings of the first motor and the dual-winding motor, and less than or equal to the maximum assisting torque that the first motor and the dual-winding motor can provide when the two sets of windings work at the same time The one-way clutch is closed, the first motor works at full load as the angle motor, and the two sets of windings of the dual-winding motor are started at the same time. The relay contact a is connected to the contact c, and the contact b is connected to the contact d. Contact a is connected to contact e, and contact b is connected to contact f. The two sets of windings of the dual-winding motor work as torque motors at the same time, and the displacement of the steering tie rod depends on the two sets of windings of the first motor and the dual-winding motor;

44)当***所需助力转矩大于第一电机和双绕组电机两套绕组同时工作所能提供的最大助力转矩之和，第一电机和双绕组电机同时满负荷工作，电磁离合器单元同时控制电磁离合器闭合，线控转向和机械转向同时进行，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机两套绕组同时工作作为转矩电机，转向横拉杆位移取决于第一电机、双绕组电机的两套绕组和方向盘输入的力矩；44) When the required assist torque of the system is greater than the sum of the maximum assist torque provided by the two sets of windings of the first motor and the dual-winding motor at the same time, the first motor and the dual-winding motor work at full load at the same time, and the electromagnetic clutch unit is controlled at the same time The electromagnetic clutch is closed, the wire-controlled steering and the mechanical steering are performed at the same time, the one-way clutch is closed, the first motor is used as the angle motor, the relay contact a is connected to the contact c, the contact b is connected to the contact d, and the contact a is connected to the contact e. The contact b is connected to the contact f. The two sets of windings of the dual-winding motor work as a torque motor at the same time, and the displacement of the steering tie rod depends on the torque input by the first motor, the two sets of windings of the dual-winding motor and the steering wheel;

45)当第一电机故障时，单向离合器断开，继电器触点a连接触点c，触点b连接触点d，触点a连接触点e，触点b连接触点f，双绕组电机作为转角电机，转向横拉杆位移取决于双绕组电机的两套绕组，触发故障报警单元，提醒驾驶员故障信息；45) When the first motor fails, the one-way clutch is disconnected, relay contact a is connected to contact c, contact b is connected to contact d, contact a is connected to contact e, and contact b is connected to contact f, dual winding The motor is used as a corner motor, and the displacement of the steering tie rod depends on the two sets of windings of the dual-winding motor, which triggers a fault alarm unit to remind the driver of fault information;

46)当双绕组电机两套绕组均故障时，继电器所有触点断开，单向离合器闭合，第一电机作为转角电机，转向横拉杆位移取决于第一电机，触发故障报警单元，提醒驾驶员故障信息；46) When both sets of windings of the dual-winding motor are faulty, all the contacts of the relay are disconnected, the one-way clutch is closed, the first motor is used as the angle motor, the displacement of the steering tie rod depends on the first motor, and the fault alarm unit is triggered to remind the driver accident details;

47)当第一电机故障且双绕组电机的第一套绕组故障时，单向离合器断开，继电器触点a连接触点e，触点b连接触点f，双绕组电机的第二套绕组作为转角电机，转向横拉杆位移取决于双绕组电机的第二套绕组，触发故障报警单元，提醒驾驶员故障信息；47) When the first motor fails and the first set of windings of the dual-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected to the contact e, the contact b is connected to the contact f, and the second set of windings of the dual-winding motor As a corner motor, the displacement of the steering tie rod depends on the second set of windings of the dual-winding motor, which triggers a fault alarm unit to remind the driver of fault information;

48)当第一电机故障且双绕组电机的第二套绕组故障时，单向离合器断开，继电器触点a连接触点c，触点b连接触点d，双绕组电机的第一套绕组作为转角电机，转向横拉杆位移取决于双绕组电机的第一套绕组，触发故障报警单元，提醒驾驶员故障信息；48) When the first motor fails and the second set of windings of the dual-winding motor fails, the one-way clutch is disconnected, the relay contact a is connected to the contact c, and the contact b is connected to the contact d. The first set of windings of the dual-winding motor As a corner motor, the displacement of the steering tie rod depends on the first set of windings of the dual-winding motor, which triggers the fault alarm unit to remind the driver of fault information;

49)当双绕组电机的第一套绕组故障时，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点e，触点b连接触点f，双绕组电机的第二套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第二套绕组，触发故障报警单元，提醒驾驶员故障信息；49) When the first winding of the dual-winding motor fails, the one-way clutch is closed, the first motor is used as a corner motor, and the relay contact a is connected to contact e, and the contact b is connected to contact f. The second set of the dual-winding motor The winding is used as a torque motor, and the displacement of the steering tie rod depends on the first motor and the second set of windings of the dual-winding motor, triggering a fault alarm unit to remind the driver of fault information;

50)当双绕组电机的第二套绕组故障时，单向离合器闭合，第一电机作为转角电机，继电器触点a连接触点c，触点b连接触点d，双绕组电机的第一套绕组作为转矩电机，转向横拉杆位移取决于第一电机和双绕组电机的第一套绕组，触发故障报警单元，提醒驾驶员故障信息；50) When the second set of windings of the dual-winding motor fails, the one-way clutch is closed, the first motor is used as a corner motor, the relay contact a is connected to the contact c, and the contact b is connected to the contact d. The first set of the dual-winding motor The winding is used as a torque motor, and the displacement of the steering tie rod depends on the first set of windings of the first motor and the dual-winding motor, which triggers the fault alarm unit to remind the driver of fault information;

51)当第一电机和双绕组电机的两套绕组均出现故障时，单向离合器断开，继电器所有触点均断开，电磁离合器闭合，转向横拉杆位移取决于方向盘输入的转矩，触发故障报警单元，并提示驾驶员进行紧急制动操作。51) When the two sets of windings of the first motor and the dual-winding motor are both faulty, the one-way clutch is disconnected, all contacts of the relay are disconnected, the electromagnetic clutch is closed, and the displacement of the steering tie rod depends on the torque input from the steering wheel, which is triggered Fault alarm unit, and prompt the driver to perform emergency braking operation.
根据权利要求8所述的基于双绕组电机的双电机线控转向***的控制方法，其特征在于，所述步骤4)具体还包括：路感电机输出的反馈力矩通过第一蜗轮蜗杆作用在第一转向管柱上，然后传递至方向盘，给驾驶员提供驾驶路感；第一电机输出的助力力矩经单向离合器、第二蜗轮蜗杆、第二转向管柱作用在滚珠丝杆上，转化为转向横拉杆的位移；双绕组电机输出的助力转矩经减速机构作用在滚珠丝杆上，转化为转向横拉杆的位移；第一电机和双绕组电机对转向横拉杆作用的位移进行叠加，并向转向梯形和转向车轮输出，转换为下一时刻的前轮转角。The control method of a dual-motor-by-wire steering system based on a dual-winding motor according to claim 8, wherein said step 4) specifically further comprises: the feedback torque output by the road-sensing motor acts on the first worm gear through the first worm gear. A steering column is then transmitted to the steering wheel to provide the driver with a driving sense of the road; the assist torque output by the first motor is acted on the ball screw via the one-way clutch, the second worm gear and the second steering column, and is transformed into The displacement of the steering tie rod; the assist torque output by the dual-winding motor acts on the ball screw through the deceleration mechanism and is converted into the displacement of the steering tie rod; the first motor and the dual-winding motor superimpose the displacement of the steering tie rod, and Output to the steering trapezoid and steering wheels, and convert it to the front wheel angle at the next moment.