WO2024040808A1 - Skateboard chassis steering system, skateboard chassis, and vehicle - Google Patents
Skateboard chassis steering system, skateboard chassis, and vehicle Download PDFInfo
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- WO2024040808A1 WO2024040808A1 PCT/CN2022/139278 CN2022139278W WO2024040808A1 WO 2024040808 A1 WO2024040808 A1 WO 2024040808A1 CN 2022139278 W CN2022139278 W CN 2022139278W WO 2024040808 A1 WO2024040808 A1 WO 2024040808A1
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- steering
- processor
- control subsystem
- skateboard
- drive
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- 238000004804 winding Methods 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000006870 function Effects 0.000 description 19
- 238000000034 method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005191 phase separation Methods 0.000 description 2
- 230000003134 recirculating effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
Definitions
- This application is based on the application with CN application number 202211030164.
- the present disclosure relates to the field of vehicle steering technology, and in particular to a skateboard chassis steering system and a vehicle.
- skateboard chassis technology is one of the research focuses.
- the skateboard chassis is a lower body that integrates drive, brake, steering, battery and other devices. It can be connected to the upper body through reserved electrical interfaces and body interfaces, and can be separated from the upper body.
- the vehicle achieves steering assistance through hydraulic means, and a constant volume flow of hydraulic oil is always provided to the steering gear through the hydraulic system during vehicle driving. Since this hydraulic system for providing steering assistance takes up a lot of space and continuously consumes energy during driving, it is difficult to move it into the skateboard chassis.
- embodiments of the present disclosure provide a skateboard chassis steering system and vehicle, which can meet the steering needs of the skateboard chassis and reduce energy consumption.
- a skateboard chassis steering system including:
- a steering assist motor has a first winding and a second winding
- the first steering control subsystem includes a first processor, a first door drive unit and a first drive axle.
- the first processor controls the first drive axle through the first door drive unit and the first drive axle. Windings for drive and control;
- the second steering control subsystem includes a second processor, a second door drive unit and a second drive axle.
- the second processor controls the second drive axle through the second door drive unit and the second drive axle. Windings for drive and control;
- first steering control subsystem and the second steering control subsystem are configured such that when one of the first steering control subsystem and the second steering control subsystem fails, the other one continues to drive. and controlling the steering assist motor to provide steering assist.
- the first processor and the second processor are galvanically separated.
- the first steering control subsystem further includes:
- a first power supply unit is electrically connected to the first processor, the first gate drive unit and the first drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal to provide power to the first processing unit. power supply to the controller, the first door drive unit and the first drive axle;
- the second steering control subsystem also includes:
- a second power supply unit is electrically connected to the second processor, the second gate drive unit and the second drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second processing unit.
- the second gate drive unit and the second drive axle are powered.
- the first steering control subsystem further includes:
- a first system basis chip is electrically connected to the first power supply unit, configured to connect to the first ignition unit, and to perform operation on the output of the first power supply unit according to the ignition signal provided by the first ignition unit. Control to wake up the first steering control subsystem;
- the second steering control subsystem also includes:
- a second system basis chip is electrically connected to the second power supply unit, configured to connect to the second ignition unit, and to perform the output of the second power supply unit according to the ignition signal provided by the second ignition unit. Control to wake up the second steering control subsystem.
- the skateboard chassis steering system further includes:
- a torque sensor signally connected to the first processor and the second processor, configured to sense the torque of the steering wheel shaft and transmit a torque signal to the first processor and the second processor respectively .
- the first processor and the second processor are each configured to drive and control the steering assist motor to output a power assist torque combined with the torque of the steering wheel shaft according to the torque signal. steering function.
- the skateboard chassis steering system further includes:
- a first transceiver signally connected to the first processor, and configured to be signally connected to a local area network bus network to receive signals from the local area network bus network;
- a second transceiver in signal connection with the second processor, is configured to be in signal connection with the LAN bus network to receive signals from the LAN bus network.
- the first processor and the second processor are each configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the local area network bus network.
- the steering assist motor is driven and controlled according to the instruction to output torque to realize the steering function.
- the skateboard chassis steering system further includes:
- a rotor position sensing unit is provided in the power steering motor and is signally connected to the first processor and the second processor, and is configured to sense the rotational position of the rotor in the power steering motor to The rotation angle and angular velocity of the output shaft of the steering assist motor are calculated and fed back to the first processor and the second processor to achieve closed-loop control.
- the rotor position sensing unit includes: a plurality of rotor position sensors.
- the skateboard chassis steering system further includes:
- a gear rack movably disposed in the housing and having a threaded section
- a steering tie rod is partially disposed in the housing and connected to at least one end of the rack;
- a first transmission mechanism is provided in the housing
- the power steering motor is disposed in the housing, and the output shaft of the power steering motor is drivingly connected to the threaded section through the first transmission mechanism.
- the skateboard chassis steering system further includes:
- a second transmission mechanism is provided in the housing
- the steering wheel shaft is partially disposed in the housing and is drivingly connected to the threaded section through the second transmission mechanism;
- a torque sensor is provided on the steering wheel shaft and configured to sense torque of the steering wheel shaft.
- the axis of the rack is parallel to the axis of the output shaft of the power steering motor.
- the first transmission mechanism includes:
- a ball recirculation nut is connected to the threaded section in a ball screw manner
- a belt is connected between the output shaft of the power steering motor and the ball recirculation nut.
- a skateboard chassis including: the aforementioned skateboard chassis steering system.
- a vehicle including: the aforementioned skateboard chassis.
- a first winding and a second winding are provided in a steering power-assisted motor that provides steering assistance to the steering of the skateboard chassis, and corresponding first steering control subsystems and
- the second steering control subsystem is equipped with a processor in each steering control subsystem.
- the processor realizes the drive and control of the corresponding windings in the steering assist motor through the door drive unit and the drive axle, thus realizing the redundancy of the skateboard chassis steering system. remaining backup settings.
- the other one can continue to drive and control the steering assist motor to provide steering assist to ensure the continuity and stability of the steering assist effect and ensure the power assist. performance and driving safety.
- Figure 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure
- FIG. 2 is a schematic diagram of a partial structure of some embodiments of a skateboard chassis steering system according to the present disclosure.
- a specific device when a specific device is described as being between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device.
- the specific device When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may not be directly connected to the other device but with an intervening device.
- FIG. 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure.
- an embodiment of the present disclosure provides a skateboard chassis steering system, including: a steering assist motor 30 , a first steering control subsystem 10 and a second steering control subsystem 20 .
- the steering assist motor 30 can output torque, and provides steering assist through the output torque to facilitate the driver to control the steering wheel more smoothly.
- the steering assist motor 30 can also control the steering of the skateboard chassis according to instructions to realize automatic driving or remote control driving of the vehicle.
- the power steering motor 30 has a first winding 31 and a second winding 32 .
- first winding 31 and the second winding 32 When either one of the first winding 31 and the second winding 32 is energized, the torque output of the steering assist motor 30 can be achieved.
- one of the first winding 31 and the second winding 32 can be selected as the main winding to be energized as needed, and the other one can be used as a backup winding to be activated when the main winding fails.
- the first winding 31 and the second winding 32 can also be energized at the same time as needed, and when any one of the windings fails, the other non-failed winding can continue to work to ensure continuous output of torque.
- the first steering control subsystem 10 and the second steering control subsystem 20 may be respectively provided in two independent control units.
- the first steering control subsystem 10 and the second steering control subsystem 20 can also be provided in one control unit.
- the power steering motor 30 may be combined with the first steering control subsystem 10 and the second steering control subsystem 20 provided in a control unit, and the power steering motor 30 may be connected to the power steering motor through a connection plug provided on the control unit.
- a more compact structure can be obtained, which is beneficial to the structural layout of the skateboard chassis.
- the first steering control subsystem 10 includes a first processor 11 , a first door drive unit 12 and a first drive axle 13 .
- the first processor 11 can receive information or instructions input from sensors, network buses or drivers, process the information or instructions, and send driving or control instructions to other components connected to its signal to make them follow the instructions. run.
- Processors described herein may include general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete implemented or performed using hardware components, or any combination thereof designed to perform the functions described herein.
- a general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, Micro Controller Unit (MCU), or state machine.
- MCU Micro Controller Unit
- a processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.
- the first drive bridge 13 may include a bridge circuit controlled by a first gate drive unit (GDU) 12 for switching.
- the first door drive unit 12 energizes the first winding 31 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor.
- the first drive bridge 13 may use a power module with phase separation.
- the first processor 11 drives and controls the first winding 31 through the first gate driving unit 12 and the first drive bridge 13 .
- the second driving bridge 23 may include a bridge circuit whose switches are controlled by the second gate driving unit 22 .
- the second door drive unit 22 energizes the second winding 32 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor.
- the second drive bridge 23 may use a power module with phase separation.
- the second processor 21 drives and controls the second winding 32 through the second gate driving unit 22 and the second driving bridge 23 .
- the first steering control subsystem 10 and the second steering control subsystem 20 are configured such that when one of the first steering control subsystem 10 and the second steering control subsystem 20 fails, the other one Continue to drive and control the power steering motor 30 to provide steering power, thereby ensuring that the power steering motor 30 can continuously output torque.
- the first steering control subsystem 10 and the second steering control subsystem 20 can work at the same time, or they can work selectively.
- the first processor 11 and the second processor 21 are electrically separated. (Galvanic separation).
- the first steering control subsystem 10 further includes: a first power supply unit 14 .
- the first power supply unit 14 may be electrically connected to the first processor 11 , the first door driving unit 12 and the first drive bridge 13 , and be configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to all
- the first processor 11, the first door drive unit 12 and the first drive bridge 13 provide power.
- the second steering control subsystem 20 also includes: a second power supply unit 24 .
- the second power supply unit 24 is electrically connected to the second processor 21 , the second door driving unit 22 and the second driving bridge 23 , and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second power supply unit 24 .
- the second processor 21, the second door drive unit 22 and the second drive bridge 23 are powered.
- the first power supply unit 14 and the second power supply unit 24 may be integrated into one body and provided in two pieces. Type connecting plugs to connect the power supply terminal and the ground terminal respectively.
- the first steering control subsystem 10 also includes: a first system basic chip (System Basic Chip, SBC for short) 15.
- the first system basic chip 15 is electrically connected to the first power supply unit 14 , is configured to connect to the first ignition unit 41 , and configures the first ignition (Ignition) signal according to the ignition signal provided by the first ignition unit 41 .
- the output of a power supply unit 14 is controlled to wake up the first steering control subsystem 10 .
- the second steering control subsystem 20 also includes: a second system basis chip 25 .
- the second system basis chip 25 is electrically connected to the second power supply unit 24 , is configured to connect to the second ignition unit 42 , and activates the second power supply unit according to the ignition signal provided by the second ignition unit 42 The output of 24 is controlled to wake up the second steering control subsystem 20 .
- the skateboard chassis steering system further includes: a torque sensor 50 .
- the torque sensor 50 is signally connected to the first processor 11 and the second processor 21 and is configured to sense the torque of the steering wheel shaft 95 and transmit the torque signal to the first processor 11 and the second processor 21 respectively.
- the processor can determine the rotation angle of the steering wheel relative to the zero position and the rotation speed of the steering wheel based on the signal sensed by the torque sensor 50, thereby controlling the current applied to the winding in the corresponding steering assist motor, thereby causing the steering assist motor to output
- the torque is combined with the torque of the steering wheel shaft to improve the steering process and optimize the vehicle's handling.
- both the first processor 11 and the second processor 21 may be configured to drive and control the steering assist motor 30 to output a power assist torque combined with the torque of the steering wheel shaft 95 according to the torque signal. to realize the steering function.
- the skateboard chassis steering system also includes: a first transceiver 61 and a second transceiver 62 .
- the first transceiver 61 is signal-connected to the first processor 11 and is configured to be signal-connected to a LAN bus network (Controller Area Network, CAN for short) 70 so as to receive signals from the LAN bus network 70 .
- the second transceiver 62 is in signal connection with the second processor 21 and is configured to be in signal connection with the LAN bus network 70 so as to receive signals from the LAN bus network 70 .
- the LAN bus network 70 can provide intelligent driving assistance function instructions or intelligent parking function instructions from the remote control or console to the first processor 11 and the second processor via the first transceiver 61 and the second transceiver 62 respectively. twenty one.
- both the first processor 11 and the second processor 21 may be configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the LAN bus network 70 .
- the steering assist motor 30 is driven and controlled to output torque according to the instruction to realize the steering function.
- the skateboard chassis steering system further includes: a rotor position sensing unit 80 .
- the rotor position sensing unit 80 is disposed in the power steering motor 30 and is signally connected to the first processor 11 and the second processor 21 , and is configured to sense the position of the rotor in the power steering motor 30 .
- the rotation position is used to calculate the rotation angle and angular velocity of the output shaft of the steering assist motor 30, and is fed back to the first processor 11 and the second processor 21 to achieve closed-loop control.
- rotor position sensing unit 80 may include a plurality of rotor position sensors.
- two rotor position sensors are respectively provided for the first winding 31 and the second winding 32 .
- the two rotor position sensors corresponding to the first winding 31 are connected to the first processor 11 via signals, and the two rotor position sensors corresponding to the second winding 32 are connected to each other via signals.
- the rotor position sensor is signally connected to the second processor 21 .
- the rotor position sensor can use a Hall position sensor, etc.
- the skateboard chassis steering system also includes: a housing 90 , a rack 91 , a steering rod 92 and a first transmission mechanism 93 .
- the rack 91 is movably disposed in the housing 90 and has a threaded section.
- the steering tie rod 92 is partially disposed in the housing 90 and connected to at least one end of the rack 91 .
- the first transmission mechanism 93 and the steering assist motor 30 are both arranged in the housing 90 .
- the output shaft of the steering assist motor 30 is drivingly connected to the threaded section through the first transmission mechanism 93 .
- the power steering motor is directly installed and acts on the steering structure, which can effectively reduce space occupation. Moreover, by at least partially accommodating the rack, the steering tie rod, the first transmission mechanism and the steering assist motor, the skateboard chassis steering system can be made more compact, convenient for application, and space-saving.
- the axis of the rack 91 is parallel to the axis of the output shaft of the steering assist motor 30 .
- This parallel-axis power steering structure has higher transmission efficiency and can provide greater power assistance.
- the first transmission mechanism 93 includes: a ball recirculating nut and a belt.
- the ball circulation nut is connected to the threaded section in a ball screw manner.
- a belt is connected between the output shaft of the power steering motor 30 and the ball recirculation nut.
- the torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into linear movement of the rack through its cooperation with the threaded section on the rack, thereby driving the steering rod to move to achieve the steering function.
- the side impact of the road is filtered out due to the structure of the ball recirculating nut and the inertial mass of the motor, making the impact transmitted back to the driver smaller, thus improving driving comfort and achieving superior acoustic vibration roughness (Noise). ,Vibration and Harshness, referred to as NVH).
- the skateboard chassis steering system further includes: a second transmission mechanism 94 , a steering wheel shaft 95 and a torque sensor 50 .
- the second transmission mechanism 94 is disposed in the housing 90 and may be in the form of a driving gear capable of meshing with the threaded section of the rack 91 .
- the steering wheel shaft 95 is partially disposed in the housing 90 and is drivingly connected to the threaded section through the second transmission mechanism 94 .
- the torque sensor 50 is provided on the steering wheel shaft 95 and is configured to sense the torque of the steering wheel shaft 95 .
- skateboard chassis steering system can be applied to various types of skateboard chassis. Therefore, embodiments of the present disclosure provide a skateboard chassis, including any of the foregoing embodiments of a skateboard chassis steering system. Since the embodiment of the steering system of the skateboard chassis has better safety, the operation of the skateboard chassis is also safer.
- skateboard chassis can be applied to various types of vehicles, such as new energy vehicles. Therefore, embodiments of the present disclosure provide a vehicle, including any of the foregoing embodiments of a skateboard chassis.
- the vehicle may be a new energy vehicle. Because the skateboard chassis has better safety, the driving and driving of the vehicle are also safer.
- skateboard chassis steering system a specific implementation example of the skateboard chassis steering system is provided below to assist in the explanation.
- the torque sensor can send the torque signal of the steering wheel shaft to the processor in the steering control subsystem currently being used. If the first steering control subsystem and the third steering control subsystem When both steering control subsystems are in use, the torque sensor sends the torque signal of the steering wheel shaft to the first processor and the second processor respectively.
- the processor that receives the torque signal can calculate the current steering angle and steering speed of the steering wheel based on the torque signal.
- the steering angle and steering speed can be used for functions such as straight-line driving correction of the vehicle.
- the operating parameters of the vehicle driven by the driver which can come from the vehicle's LAN bus network
- vehicle speed, engine speed, wheel speed, etc. combined with the torque signal of the steering wheel shaft
- the information stored in the processor or in the memory accessible to the processor is queried.
- the characteristic curve is used to determine the steering assist demand value, so that the corresponding current is output to the corresponding winding in the steering assist motor through the door drive unit and the transaxle to drive and control the steering assist motor output torque.
- the torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into the linear movement of the rack through its cooperation with the threaded section on the rack, while the torque of the steering wheel shaft passes through the driving gear and rack
- the cooperation of the threaded segments on the steering wheel is also transformed into the linear motion of the rack.
- the steering rod moves to realize the steering assist function.
- the linear movement of the steering rod causes the wheel to swing in the corresponding direction around its steering axis.
- the rotor position sensing unit provided in the power steering motor can sense the rotational position of the rotor in the power steering motor to calculate the rotation angle and angular velocity of the output shaft of the power steering motor, and feed them back to Corresponding processor to achieve closed-loop control.
- the processor in the currently working steering control subsystem can receive instructions for intelligent driving assistance functions or instructions for intelligent parking functions from the LAN bus network through the corresponding transceiver. instructions, and drives and controls the power steering motor to output torque according to the instructions to achieve the steering function.
- the torque output by the steering assist motor can act on the rack alone through the first transmission mechanism to realize the steering function of the vehicle; and when there is input from the steering wheel, the torque output by the steering assist motor can be combined with the steering wheel.
- the torque input from the shaft is combined to achieve the steering function of the vehicle.
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Abstract
A skateboard chassis steering system, a skateboard chassis, and a vehicle. The skateboard chassis steering system comprises: a steering assist motor (30) having a first winding (31) and a second winding (32); a first steering control subsystem (10), comprising a first processor (11), a first gate drive unit (12), and a first drive axle (13), the first processor (11) driving and controlling the first winding (31) by means of the first gate drive unit (12) and the first drive axle (13); and a second steering control subsystem (20), comprising a second processor (21), a second gate drive unit (22), and a second drive axle (23), the second processor (21) driving and controlling the second winding (32) by means of the second gate drive unit (22) and the second drive axle (23). The first steering control subsystem (10) and the second steering control subsystem (20) are configured such that when one of the first steering control subsystem (10) and the second steering control subsystem (20) fails, the other one continues driving and controlling the steering assist motor (30) to provide steering assistance.
Description
相关申请的交叉引用Cross-references to related applications
本申请是以CN申请号为202211030164.X,申请日为2022年8月24日的申请为基础,并主张其优先权,该CN申请的公开内容在此作为整体引入本申请中。This application is based on the application with CN application number 202211030164.
本公开涉及车辆转向技术领域,尤其涉及一种滑板底盘转向***及车辆。The present disclosure relates to the field of vehicle steering technology, and in particular to a skateboard chassis steering system and a vehicle.
在快速发展的智能汽车领域中,滑板底盘技术是研究重点之一。滑板底盘是一种集成驱动、制动、转向、电池等器件的下车体,能够通过预留的电气接口和车体接口与上车体进行连接,并可与上车体分离。In the rapidly developing field of smart cars, skateboard chassis technology is one of the research focuses. The skateboard chassis is a lower body that integrates drive, brake, steering, battery and other devices. It can be connected to the upper body through reserved electrical interfaces and body interfaces, and can be separated from the upper body.
在一些传统车辆中,为了改善转向性能,车辆通过液压方式实现转向助力,并在车辆行驶过程中通过液压***向转向器始终地提供恒定容积流量的液压油。由于这种用于提供转向助力的液压***占用较多空间,且在行驶过程中持续地耗费能量,难以移入到滑板底盘中。In some traditional vehicles, in order to improve steering performance, the vehicle achieves steering assistance through hydraulic means, and a constant volume flow of hydraulic oil is always provided to the steering gear through the hydraulic system during vehicle driving. Since this hydraulic system for providing steering assistance takes up a lot of space and continuously consumes energy during driving, it is difficult to move it into the skateboard chassis.
发明内容Contents of the invention
有鉴于此,本公开实施例提供一种滑板底盘转向***及车辆,能够满足滑板底盘的转向需要,并减少能量消耗。In view of this, embodiments of the present disclosure provide a skateboard chassis steering system and vehicle, which can meet the steering needs of the skateboard chassis and reduce energy consumption.
在本公开的一个方面,提供一种滑板底盘转向***,包括:In one aspect of the present disclosure, a skateboard chassis steering system is provided, including:
转向助力电机,具有第一绕组和第二绕组;A steering assist motor has a first winding and a second winding;
第一转向控制子***,包括第一处理器、第一门驱动单元和第一驱动桥,所述第一处理器通过所述第一门驱动单元和所述第一驱动桥对所述第一绕组进行驱动和控制;The first steering control subsystem includes a first processor, a first door drive unit and a first drive axle. The first processor controls the first drive axle through the first door drive unit and the first drive axle. Windings for drive and control;
第二转向控制子***,包括第二处理器、第二门驱动单元和第二驱动桥,所述第二处理器通过所述第二门驱动单元和所述第二驱动桥对所述第二绕组进行驱动和控制;The second steering control subsystem includes a second processor, a second door drive unit and a second drive axle. The second processor controls the second drive axle through the second door drive unit and the second drive axle. Windings for drive and control;
其中,所述第一转向控制子***和所述第二转向控制子***被配置为在所述第一 转向控制子***和所述第二转向控制子***中的一个失效时,另一个继续驱动和控制所述转向助力电机提供转向助力。Wherein, the first steering control subsystem and the second steering control subsystem are configured such that when one of the first steering control subsystem and the second steering control subsystem fails, the other one continues to drive. and controlling the steering assist motor to provide steering assist.
在一些实施例中,所述第一处理器和所述第二处理器电流分离。In some embodiments, the first processor and the second processor are galvanically separated.
在一些实施例中,所述第一转向控制子***还包括:In some embodiments, the first steering control subsystem further includes:
第一电源单元,与所述第一处理器、所述第一门驱动单元和所述第一驱动桥均电连接,被配置为与供电端和接地端电连接,以便向所述第一处理器、所述第一门驱动单元和所述第一驱动桥供电;A first power supply unit is electrically connected to the first processor, the first gate drive unit and the first drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal to provide power to the first processing unit. power supply to the controller, the first door drive unit and the first drive axle;
所述第二转向控制子***还包括:The second steering control subsystem also includes:
第二电源单元,与所述第二处理器、所述第二门驱动单元和所述第二驱动桥均电连接,被配置为与供电端和接地端电连接,以便向所述第二处理器、所述第二门驱动单元和所述第二驱动桥供电。A second power supply unit is electrically connected to the second processor, the second gate drive unit and the second drive bridge, and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second processing unit. The second gate drive unit and the second drive axle are powered.
在一些实施例中,所述第一转向控制子***还包括:In some embodiments, the first steering control subsystem further includes:
第一***基础芯片,与所述第一电源单元电连接,被配置为连接第一打火单元,并根据所述第一打火单元提供的打火信号对所述第一电源单元的输出进行控制,以便对所述第一转向控制子***进行唤醒;A first system basis chip is electrically connected to the first power supply unit, configured to connect to the first ignition unit, and to perform operation on the output of the first power supply unit according to the ignition signal provided by the first ignition unit. Control to wake up the first steering control subsystem;
所述第二转向控制子***还包括:The second steering control subsystem also includes:
第二***基础芯片,与所述第二电源单元电连接,被配置为连接第二打火单元,并根据所述第二打火单元提供的打火信号对所述第二电源单元的输出进行控制,以便对所述第二转向控制子***进行唤醒。A second system basis chip is electrically connected to the second power supply unit, configured to connect to the second ignition unit, and to perform the output of the second power supply unit according to the ignition signal provided by the second ignition unit. Control to wake up the second steering control subsystem.
在一些实施例中,所述滑板底盘转向***还包括:In some embodiments, the skateboard chassis steering system further includes:
扭矩传感器,与所述第一处理器和所述第二处理器信号连接,被配置为感测方向盘轴的扭矩,并将扭矩信号分别传输给所述第一处理器和所述第二处理器。a torque sensor, signally connected to the first processor and the second processor, configured to sense the torque of the steering wheel shaft and transmit a torque signal to the first processor and the second processor respectively .
在一些实施例中,所述第一处理器和所述第二处理器均被配置为根据所述扭矩信号驱动和控制所述转向助力电机输出与所述方向盘轴的扭矩组合的助力扭矩来实现转向功能。In some embodiments, the first processor and the second processor are each configured to drive and control the steering assist motor to output a power assist torque combined with the torque of the steering wheel shaft according to the torque signal. steering function.
在一些实施例中,所述滑板底盘转向***还包括:In some embodiments, the skateboard chassis steering system further includes:
第一收发器,与所述第一处理器信号连接,被配置为与局域网总线网络信号连接,以便接收来自所述局域网总线网络的信号;a first transceiver, signally connected to the first processor, and configured to be signally connected to a local area network bus network to receive signals from the local area network bus network;
第二收发器,与所述第二处理器信号连接,被配置为与局域网总线网络信号连接,以便接收来自所述局域网总线网络的信号。A second transceiver, in signal connection with the second processor, is configured to be in signal connection with the LAN bus network to receive signals from the LAN bus network.
在一些实施例中,所述第一处理器和所述第二处理器均被配置为在接收到来自所述局域网总线网络的用于智能驾驶辅助功能的指令或用于智能泊车功能的指令时,根据所述指令驱动和控制所述转向助力电机输出扭矩来实现转向功能。In some embodiments, the first processor and the second processor are each configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the local area network bus network. When, the steering assist motor is driven and controlled according to the instruction to output torque to realize the steering function.
在一些实施例中,所述滑板底盘转向***还包括:In some embodiments, the skateboard chassis steering system further includes:
转子位置传感单元,设置在所述转向助力电机内,并与所述第一处理器和所述第二处理器信号连接,被配置为感测所述转向助力电机中转子的转动位置,以计算出所述转向助力电机的输出轴的转动角度和角速度,并反馈给所述第一处理器和所述第二处理器,以实现闭环控制。A rotor position sensing unit is provided in the power steering motor and is signally connected to the first processor and the second processor, and is configured to sense the rotational position of the rotor in the power steering motor to The rotation angle and angular velocity of the output shaft of the steering assist motor are calculated and fed back to the first processor and the second processor to achieve closed-loop control.
在一些实施例中,所述转子位置传感单元包括:多个转子位置传感器。In some embodiments, the rotor position sensing unit includes: a plurality of rotor position sensors.
在一些实施例中,所述滑板底盘转向***还包括:In some embodiments, the skateboard chassis steering system further includes:
壳体;case;
齿条,可移动地设置在所述壳体内,且具有螺纹段;a gear rack, movably disposed in the housing and having a threaded section;
转向拉杆,部分地设置在所述壳体内,并与所述齿条的至少一端连接;A steering tie rod is partially disposed in the housing and connected to at least one end of the rack;
第一传动机构,设置在所述壳体内;A first transmission mechanism is provided in the housing;
其中,所述转向助力电机设置在所述壳体内,且所述转向助力电机的输出轴通过所述第一传动机构与所述螺纹段传动连接。Wherein, the power steering motor is disposed in the housing, and the output shaft of the power steering motor is drivingly connected to the threaded section through the first transmission mechanism.
在一些实施例中,所述滑板底盘转向***还包括:In some embodiments, the skateboard chassis steering system further includes:
第二传动机构,设置在所述壳体内;A second transmission mechanism is provided in the housing;
方向盘轴,部分地设置在所述壳体内,并通过所述第二传动机构与所述螺纹段传动连接;The steering wheel shaft is partially disposed in the housing and is drivingly connected to the threaded section through the second transmission mechanism;
扭矩传感器,设置在所述方向盘轴上,被配置为感测所述方向盘轴的扭矩。A torque sensor is provided on the steering wheel shaft and configured to sense torque of the steering wheel shaft.
在一些实施例中,所述齿条的轴线与所述转向助力电机的输出轴的轴线平行。In some embodiments, the axis of the rack is parallel to the axis of the output shaft of the power steering motor.
在一些实施例中,所述第一传动机构包括:In some embodiments, the first transmission mechanism includes:
球循环螺母,与所述螺纹段以滚珠丝杠配合的方式连接;A ball recirculation nut is connected to the threaded section in a ball screw manner;
皮带,连接在所述转向助力电机的输出轴和所述球循环螺母之间。A belt is connected between the output shaft of the power steering motor and the ball recirculation nut.
在本公开的一个方面,提供一种滑板底盘,包括:前述的滑板底盘转向***。In one aspect of the present disclosure, a skateboard chassis is provided, including: the aforementioned skateboard chassis steering system.
在本公开的一个方面,提供一种车辆,包括:前述的滑板底盘。In one aspect of the present disclosure, a vehicle is provided, including: the aforementioned skateboard chassis.
因此,根据本公开实施例,在给滑板底盘转向提供转向助力的转向助力电机中设置第一绕组和第二绕组,并分别针对第一绕组和第二绕组设置对应的第一转向控制子***和第二转向控制子***,在每个转向控制子***中设置处理器,处理器通过门驱 动单元和驱动桥实现转向助力电机中对应绕组的驱动和控制,这样就实现了滑板底盘转向***的冗余备份设置。当第一转向控制子***和第二转向控制子***中的一个失效时,另一个能够继续驱动和控制所述转向助力电机提供转向助力,以确保转向助力作用的持续性和稳定性,保障助力性能和驾驶安全。Therefore, according to an embodiment of the present disclosure, a first winding and a second winding are provided in a steering power-assisted motor that provides steering assistance to the steering of the skateboard chassis, and corresponding first steering control subsystems and The second steering control subsystem is equipped with a processor in each steering control subsystem. The processor realizes the drive and control of the corresponding windings in the steering assist motor through the door drive unit and the drive axle, thus realizing the redundancy of the skateboard chassis steering system. remaining backup settings. When one of the first steering control subsystem and the second steering control subsystem fails, the other one can continue to drive and control the steering assist motor to provide steering assist to ensure the continuity and stability of the steering assist effect and ensure the power assist. performance and driving safety.
构成说明书的一部分的附图描述了本公开的实施例,并且连同说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the description, serve to explain principles of the disclosure.
参照附图,根据下面的详细描述,可以更加清楚地理解本公开,其中:The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:
图1是根据本公开滑板底盘转向***的一些实施例的原理示意图;Figure 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure;
图2是根据本公开滑板底盘转向***的一些实施例的部分结构的示意图。2 is a schematic diagram of a partial structure of some embodiments of a skateboard chassis steering system according to the present disclosure.
应当明白,附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。此外,相同或类似的参考标号表示相同或类似的构件。It should be understood that the dimensions of the various components shown in the drawings are not drawn to actual proportions. In addition, the same or similar reference numbers indicate the same or similar components.
现在将参照附图来详细描述本公开的各种示例性实施例。对示例性实施例的描述仅仅是说明性的,决不作为对本公开及其应用或使用的任何限制。本公开可以以许多不同的形式实现,不限于这里所述的实施例。提供这些实施例是为了使本公开透彻且完整,并且向本领域技术人员充分表达本公开的范围。应注意到:除非另外具体说明,否则在这些实施例中阐述的部件和步骤的相对布置、材料的组分、数字表达式和数值应被解释为仅仅是示例性的,而不是作为限制。Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is illustrative only and is in no way intended to limit the disclosure, its application or uses. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangements of parts and steps, compositions of materials, numerical expressions, and numerical values set forth in these examples are to be construed as illustrative only and not as limitations.
本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性,而只是用来区分不同的部分。“包括”或者“包含”等类似的词语意指在该词前的要素涵盖在该词后列举的要素,并不排除也涵盖其他要素的可能。“上”、“下”、“左”、“右”等仅用于表示相对位置关系,当被描述对象的绝对位置改变后,则该相对位置关系也可能相应地改变。"First," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Similar words such as "include" or "include" mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "down", "left", "right", etc. are only used to express relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
在本公开中,当描述到特定器件位于第一器件和第二器件之间时,在该特定器件与第一器件或第二器件之间可以存在居间器件,也可以不存在居间器件。当描述到特定器件连接其它器件时,该特定器件可以与所述其它器件直接连接而不具有居间器件,也可以不与所述其它器件直接连接而具有居间器件。In this disclosure, when a specific device is described as being between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may not be directly connected to the other device but with an intervening device.
本公开使用的所有术语(包括技术术语或者科学术语)与本公开所属领域的普通技术人员理解的含义相同,除非另外特别定义。还应当理解,在诸如通用字典中定义的术语应当被解释为具有与它们在相关技术的上下文中的含义相一致的含义,而不应用理想化或极度形式化的意义来解释,除非这里明确地这样定义。All terms (including technical terms or scientific terms) used in this disclosure have the same meanings as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be construed to have meanings consistent with their meanings in the context of the relevant technology and should not be interpreted in an idealized or highly formalized sense, except as expressly stated herein. Define it this way.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论,但在适当情况下,所述技术、方法和设备应当被视为说明书的一部分。Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered a part of the specification.
图1是根据本公开滑板底盘转向***的一些实施例的原理示意图。参考图1,本公开实施例提供一种滑板底盘转向***,包括:转向助力电机30、第一转向控制子***10和第二转向控制子***20。转向助力电机30能够输出扭矩,通过输出扭矩提供转向助力,以方便驾驶者更顺畅地操纵方向盘。转向助力电机30还可以根据指令控制滑板底盘的转向,以实现车辆的自动驾驶或远程遥控行驶。FIG. 1 is a schematic diagram of some embodiments of a skateboard chassis steering system according to the present disclosure. Referring to FIG. 1 , an embodiment of the present disclosure provides a skateboard chassis steering system, including: a steering assist motor 30 , a first steering control subsystem 10 and a second steering control subsystem 20 . The steering assist motor 30 can output torque, and provides steering assist through the output torque to facilitate the driver to control the steering wheel more smoothly. The steering assist motor 30 can also control the steering of the skateboard chassis according to instructions to realize automatic driving or remote control driving of the vehicle.
转向助力电机30具有第一绕组31和第二绕组32。当对第一绕组31和第二绕组32中的任一个通电时都能够实现转向助力电机30的扭矩输出。在实际工作时可根据需要选择第一绕组31和第二绕组32中的一个作为主绕组通电,另一个作为备用绕组在主绕组失效时启用。也可以根据需要使第一绕组31和第二绕组32同时通电,而当其中任一绕组失效,另一未失效的绕组可以继续工作,以确保扭矩的持续输出。The power steering motor 30 has a first winding 31 and a second winding 32 . When either one of the first winding 31 and the second winding 32 is energized, the torque output of the steering assist motor 30 can be achieved. During actual operation, one of the first winding 31 and the second winding 32 can be selected as the main winding to be energized as needed, and the other one can be used as a backup winding to be activated when the main winding fails. The first winding 31 and the second winding 32 can also be energized at the same time as needed, and when any one of the windings fails, the other non-failed winding can continue to work to ensure continuous output of torque.
第一转向控制子***10和第二转向控制子***20可以分别设置在两个独立的控制单元中。而为了结构的紧凑,第一转向控制子***10和第二转向控制子***20也可以设置在一个控制单元中。在一些实施例中,转向助力电机30可以与设置到一个控制单元中的第一转向控制子***10和第二转向控制子***20组合到一起,通过控制单元上设置的连接插头连接转向助力电机以及其他的传感器和网络连接等,这样可以获得更加紧凑的结构,有利于滑板底盘的结构布置。The first steering control subsystem 10 and the second steering control subsystem 20 may be respectively provided in two independent control units. For compact structure, the first steering control subsystem 10 and the second steering control subsystem 20 can also be provided in one control unit. In some embodiments, the power steering motor 30 may be combined with the first steering control subsystem 10 and the second steering control subsystem 20 provided in a control unit, and the power steering motor 30 may be connected to the power steering motor through a connection plug provided on the control unit. As well as other sensors and network connections, a more compact structure can be obtained, which is beneficial to the structural layout of the skateboard chassis.
第一转向控制子***10包括第一处理器11、第一门驱动单元12和第一驱动桥13。第一处理器11可接收来自传感器、网络总线或驾驶者输入的信息或指令,对信息或指令进行处理,并且对与其信号连接的其他元器件发送驱动或控制用的指令,以使其按照指令运行。The first steering control subsystem 10 includes a first processor 11 , a first door drive unit 12 and a first drive axle 13 . The first processor 11 can receive information or instructions input from sensors, network buses or drivers, process the information or instructions, and send driving or control instructions to other components connected to its signal to make them follow the instructions. run.
这里所描述的处理器可以包括通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑器件、分立的门或晶体管逻辑、分立的硬件组件、或其设计成执行本文所描述功能的任何组合来实现或执行。通用处理器可以是微处理器,但在替换方案中,该处理器可以是任何常规的处理 器、控制器、微控制器单元(Micro Controller Unit,简称MCU)、或状态机。处理器还可以被实现为计算设备的组合,例如DSP与微处理器的组合、多个微处理器、与DSP核心协作的一个或多个微处理器、或任何其他此类配置。Processors described herein may include general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete implemented or performed using hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, Micro Controller Unit (MCU), or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.
第一驱动桥13可包括由第一门驱动单元(Gate Drive Unit,简称GDU)12控制开关的桥电路。第一门驱动单元12通过对该桥电路的开关控制实现第一绕组31的通电,从而实现对转向助力电机的驱动和控制。第一驱动桥13可采用带相位分离的功率模块(Power module with phase separation)。所述第一处理器11通过所述第一门驱动单元12和所述第一驱动桥13对所述第一绕组31进行驱动和控制。The first drive bridge 13 may include a bridge circuit controlled by a first gate drive unit (GDU) 12 for switching. The first door drive unit 12 energizes the first winding 31 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor. The first drive bridge 13 may use a power module with phase separation. The first processor 11 drives and controls the first winding 31 through the first gate driving unit 12 and the first drive bridge 13 .
第二驱动桥23可包括由第二门驱动单元22控制开关的桥电路。第二门驱动单元22通过对该桥电路的开关控制实现第二绕组32的通电,从而实现对转向助力电机的驱动和控制。第二驱动桥23可采用带相位分离的功率模块。所述第二处理器21通过所述第二门驱动单元22和所述第二驱动桥23对所述第二绕组32进行驱动和控制。The second driving bridge 23 may include a bridge circuit whose switches are controlled by the second gate driving unit 22 . The second door drive unit 22 energizes the second winding 32 by controlling the switch of the bridge circuit, thereby driving and controlling the steering assist motor. The second drive bridge 23 may use a power module with phase separation. The second processor 21 drives and controls the second winding 32 through the second gate driving unit 22 and the second driving bridge 23 .
所述第一转向控制子***10和所述第二转向控制子***20被配置为在所述第一转向控制子***10和所述第二转向控制子***20中的一个失效时,另一个继续驱动和控制所述转向助力电机30提供转向助力,从而确保转向助力电机30能够持续地输出扭矩。在实际使用中,所述第一转向控制子***10和所述第二转向控制子***20可以同时工作,也可以择一工作。The first steering control subsystem 10 and the second steering control subsystem 20 are configured such that when one of the first steering control subsystem 10 and the second steering control subsystem 20 fails, the other one Continue to drive and control the power steering motor 30 to provide steering power, thereby ensuring that the power steering motor 30 can continuously output torque. In actual use, the first steering control subsystem 10 and the second steering control subsystem 20 can work at the same time, or they can work selectively.
为了避免第一转向控制子***10和所述第二转向控制子***20之间的相互干扰,在一些实施例中,所述第一处理器11和所述第二处理器21之间电流分离(Galvanic separation)。In order to avoid mutual interference between the first steering control subsystem 10 and the second steering control subsystem 20, in some embodiments, the first processor 11 and the second processor 21 are electrically separated. (Galvanic separation).
参考图1,在一些实施例中,所述第一转向控制子***10还包括:第一电源单元14。第一电源单元14可与所述第一处理器11、所述第一门驱动单元12和所述第一驱动桥13均电连接,被配置为与供电端和接地端电连接,以便向所述第一处理器11、所述第一门驱动单元12和所述第一驱动桥13供电。所述第二转向控制子***20还包括:第二电源单元24。第二电源单元24与所述第二处理器21、所述第二门驱动单元22和所述第二驱动桥23均电连接,被配置为与供电端和接地端电连接,以便向所述第二处理器21、所述第二门驱动单元22和所述第二驱动桥23供电。Referring to FIG. 1 , in some embodiments, the first steering control subsystem 10 further includes: a first power supply unit 14 . The first power supply unit 14 may be electrically connected to the first processor 11 , the first door driving unit 12 and the first drive bridge 13 , and be configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to all The first processor 11, the first door drive unit 12 and the first drive bridge 13 provide power. The second steering control subsystem 20 also includes: a second power supply unit 24 . The second power supply unit 24 is electrically connected to the second processor 21 , the second door driving unit 22 and the second driving bridge 23 , and is configured to be electrically connected to a power supply terminal and a ground terminal so as to provide power to the second power supply unit 24 . The second processor 21, the second door drive unit 22 and the second drive bridge 23 are powered.
在将第一转向控制子***10和第二转向控制子***20设置在一个控制单元中的实施例中,该第一电源单元14和第二电源单元24可集成为一体,并设置成两片式连接插头,以分别连接供电端和接地端。In an embodiment in which the first steering control subsystem 10 and the second steering control subsystem 20 are provided in one control unit, the first power supply unit 14 and the second power supply unit 24 may be integrated into one body and provided in two pieces. Type connecting plugs to connect the power supply terminal and the ground terminal respectively.
为了通过打火操作来有效地唤醒各个转向控制子***,参考图1,在一些实施例中,所述第一转向控制子***10还包括:第一***基础芯片(System Basic Chip,简称SBC)15。第一***基础芯片15与所述第一电源单元14电连接,被配置为连接第一打火单元41,并根据所述第一打火单元41提供的打火(Ignition)信号对所述第一电源单元14的输出进行控制,以便对所述第一转向控制子***10进行唤醒。所述第二转向控制子***20还包括:第二***基础芯片25。第二***基础芯片25与所述第二电源单元24电连接,被配置为连接第二打火单元42,并根据所述第二打火单元42提供的打火信号对所述第二电源单元24的输出进行控制,以便对所述第二转向控制子***20进行唤醒。In order to effectively wake up each steering control subsystem through the ignition operation, referring to Figure 1, in some embodiments, the first steering control subsystem 10 also includes: a first system basic chip (System Basic Chip, SBC for short) 15. The first system basic chip 15 is electrically connected to the first power supply unit 14 , is configured to connect to the first ignition unit 41 , and configures the first ignition (Ignition) signal according to the ignition signal provided by the first ignition unit 41 . The output of a power supply unit 14 is controlled to wake up the first steering control subsystem 10 . The second steering control subsystem 20 also includes: a second system basis chip 25 . The second system basis chip 25 is electrically connected to the second power supply unit 24 , is configured to connect to the second ignition unit 42 , and activates the second power supply unit according to the ignition signal provided by the second ignition unit 42 The output of 24 is controlled to wake up the second steering control subsystem 20 .
为了实现对驾驶者操纵方向盘时的转向助力,参考图1,在一些实施例中,滑板底盘转向***还包括:扭矩传感器50。扭矩传感器50与所述第一处理器11和所述第二处理器21信号连接,被配置为感测方向盘轴95的扭矩,并将扭矩信号分别传输给所述第一处理器11和所述第二处理器21。处理器可以根据扭矩传感器50感测到的信号,确定出方向盘相对于零位的转角以及方向盘的转速,由此来控制向对应的转向助力电机中绕组施加的电流,从而使转向助力电机输出的扭矩与方向盘轴的扭矩结合来改善转向过程,优化车辆的操控性。In order to achieve steering assistance when the driver operates the steering wheel, referring to FIG. 1 , in some embodiments, the skateboard chassis steering system further includes: a torque sensor 50 . The torque sensor 50 is signally connected to the first processor 11 and the second processor 21 and is configured to sense the torque of the steering wheel shaft 95 and transmit the torque signal to the first processor 11 and the second processor 21 respectively. Second processor 21. The processor can determine the rotation angle of the steering wheel relative to the zero position and the rotation speed of the steering wheel based on the signal sensed by the torque sensor 50, thereby controlling the current applied to the winding in the corresponding steering assist motor, thereby causing the steering assist motor to output The torque is combined with the torque of the steering wheel shaft to improve the steering process and optimize the vehicle's handling.
具体地,所述第一处理器11和所述第二处理器21均可被配置为根据所述扭矩信号驱动和控制所述转向助力电机30输出与所述方向盘轴95的扭矩组合的助力扭矩来实现转向功能。Specifically, both the first processor 11 and the second processor 21 may be configured to drive and control the steering assist motor 30 to output a power assist torque combined with the torque of the steering wheel shaft 95 according to the torque signal. to realize the steering function.
为了满足智能驾驶(例如L3或L4)的需要,参考图1,在一些实施例中,滑板底盘转向***还包括:第一收发器61和第二收发器62。第一收发器61与所述第一处理器11信号连接,被配置为与局域网总线网络(Controller Area Network,简称CAN)70信号连接,以便接收来自所述局域网总线网络70的信号。第二收发器62与所述第二处理器21信号连接,被配置为与局域网总线网络70信号连接,以便接收来自所述局域网总线网络70的信号。In order to meet the needs of intelligent driving (such as L3 or L4), referring to FIG. 1 , in some embodiments, the skateboard chassis steering system also includes: a first transceiver 61 and a second transceiver 62 . The first transceiver 61 is signal-connected to the first processor 11 and is configured to be signal-connected to a LAN bus network (Controller Area Network, CAN for short) 70 so as to receive signals from the LAN bus network 70 . The second transceiver 62 is in signal connection with the second processor 21 and is configured to be in signal connection with the LAN bus network 70 so as to receive signals from the LAN bus network 70 .
局域网总线网络70可将来自遥控器或控制台发出的智能驾驶辅助功能指令或智能泊车功能指令经第一收发器61和第二收发器62分别提供给第一处理器11和第二处理器21。相应地,所述第一处理器11和所述第二处理器21均可被配置为在接收到来自所述局域网总线网络70的用于智能驾驶辅助功能的指令或用于智能泊车功能的指令时,根据所述指令驱动和控制所述转向助力电机30输出扭矩来实现转向功能。The LAN bus network 70 can provide intelligent driving assistance function instructions or intelligent parking function instructions from the remote control or console to the first processor 11 and the second processor via the first transceiver 61 and the second transceiver 62 respectively. twenty one. Correspondingly, both the first processor 11 and the second processor 21 may be configured to receive an instruction for an intelligent driving assistance function or an instruction for an intelligent parking function from the LAN bus network 70 . When instructed, the steering assist motor 30 is driven and controlled to output torque according to the instruction to realize the steering function.
在处理器对转向助力电机输出的扭矩进行控制时,为了提高控制精度,可采用闭环控制。参考图1,在一些实施例中,滑板底盘转向***还包括:转子位置传感单元80。转子位置传感单元80设置在所述转向助力电机30内,并与所述第一处理器11和所述第二处理器21信号连接,被配置为感测所述转向助力电机30中转子的转动位置,以计算出所述转向助力电机30的输出轴的转动角度和角速度,并反馈给所述第一处理器11和所述第二处理器21,以实现闭环控制。When the processor controls the torque output by the steering assist motor, in order to improve the control accuracy, closed-loop control can be used. Referring to FIG. 1 , in some embodiments, the skateboard chassis steering system further includes: a rotor position sensing unit 80 . The rotor position sensing unit 80 is disposed in the power steering motor 30 and is signally connected to the first processor 11 and the second processor 21 , and is configured to sense the position of the rotor in the power steering motor 30 . The rotation position is used to calculate the rotation angle and angular velocity of the output shaft of the steering assist motor 30, and is fed back to the first processor 11 and the second processor 21 to achieve closed-loop control.
在一些实施例中,转子位置传感单元80可包括:多个转子位置传感器。例如分别针对于第一绕组31和第二绕组32各设置两个转子位置传感器,其中第一绕组31对应的两个转子位置传感器与第一处理器11信号连接,第二绕组32对应的两个转子位置传感器与第二处理器21信号连接。转子位置传感器可采用霍尔位置传感器等。In some embodiments, rotor position sensing unit 80 may include a plurality of rotor position sensors. For example, two rotor position sensors are respectively provided for the first winding 31 and the second winding 32 . The two rotor position sensors corresponding to the first winding 31 are connected to the first processor 11 via signals, and the two rotor position sensors corresponding to the second winding 32 are connected to each other via signals. The rotor position sensor is signally connected to the second processor 21 . The rotor position sensor can use a Hall position sensor, etc.
图2是根据本公开滑板底盘转向***的一些实施例的部分结构的示意图。参考图1和图2,在一些实施例中,滑板底盘转向***还包括:壳体90、齿条91、转向拉杆92和第一传动机构93。齿条91可移动地设置在所述壳体90内,且具有螺纹段。转向拉杆92部分地设置在所述壳体90内,并与所述齿条91的至少一端连接。第一传动机构93和转向助力电机30均设置在所述壳体90内。所述转向助力电机30的输出轴通过所述第一传动机构93与所述螺纹段传动连接。2 is a schematic diagram of a partial structure of some embodiments of a skateboard chassis steering system according to the present disclosure. Referring to FIGS. 1 and 2 , in some embodiments, the skateboard chassis steering system also includes: a housing 90 , a rack 91 , a steering rod 92 and a first transmission mechanism 93 . The rack 91 is movably disposed in the housing 90 and has a threaded section. The steering tie rod 92 is partially disposed in the housing 90 and connected to at least one end of the rack 91 . The first transmission mechanism 93 and the steering assist motor 30 are both arranged in the housing 90 . The output shaft of the steering assist motor 30 is drivingly connected to the threaded section through the first transmission mechanism 93 .
转向助力电机直接安装并作用于转向结构上,可有效地减少空间占用。而且,通过壳体至少部分地容纳齿条、转向拉杆、第一传动机构以及转向助力电机,可以使滑板底盘转向***结构更加紧凑,方便应用,也节省空间。The power steering motor is directly installed and acts on the steering structure, which can effectively reduce space occupation. Moreover, by at least partially accommodating the rack, the steering tie rod, the first transmission mechanism and the steering assist motor, the skateboard chassis steering system can be made more compact, convenient for application, and space-saving.
在一些实施例中,所述齿条91的轴线与所述转向助力电机30的输出轴的轴线平行。这种平行轴式的转向助力结构的传动效率更高,能提供更大的助力。为了降低转向器内部摩擦,使驾驶者更能自由地感受车轮方向的改变和转向平顺感,从而提高转向感,在一些实施例中,所述第一传动机构93包括:球循环螺母和皮带。球循环螺母与所述螺纹段以滚珠丝杠配合的方式连接。皮带连接在所述转向助力电机30的输出轴和所述球循环螺母之间。In some embodiments, the axis of the rack 91 is parallel to the axis of the output shaft of the steering assist motor 30 . This parallel-axis power steering structure has higher transmission efficiency and can provide greater power assistance. In order to reduce the internal friction of the steering gear so that the driver can more freely feel changes in wheel direction and smooth steering, thereby improving steering feel, in some embodiments, the first transmission mechanism 93 includes: a ball recirculating nut and a belt. The ball circulation nut is connected to the threaded section in a ball screw manner. A belt is connected between the output shaft of the power steering motor 30 and the ball recirculation nut.
这样,转向助力电机输出的扭矩经皮带带动球循环螺母转动,而球循环螺母的转动通过其与齿条上的螺纹段的配合转换成齿条的直线移动,从而带动转向拉杆运动来实现转向功能。此时,道路的侧面冲击因球循环螺母的结构以及电机的惯性质量而被过滤掉,使得回传到驾驶者的冲击更小,从而提升驾驶舒适性,实现更优越的声振粗糙度(Noise,Vibration and Harshness,简称NVH)。In this way, the torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into linear movement of the rack through its cooperation with the threaded section on the rack, thereby driving the steering rod to move to achieve the steering function. . At this time, the side impact of the road is filtered out due to the structure of the ball recirculating nut and the inertial mass of the motor, making the impact transmitted back to the driver smaller, thus improving driving comfort and achieving superior acoustic vibration roughness (Noise). ,Vibration and Harshness, referred to as NVH).
参考图2,在一些实施例中,滑板底盘转向***还包括:第二传动机构94、方向盘轴95和扭矩传感器50。第二传动机构94设置在所述壳体90内,可采用能够与齿条91的螺纹段啮合的主动齿轮的形式。方向盘轴95部分地设置在所述壳体90内,并通过所述第二传动机构94与所述螺纹段传动连接。扭矩传感器50设置在所述方向盘轴95上,被配置为感测所述方向盘轴95的扭矩。Referring to FIG. 2 , in some embodiments, the skateboard chassis steering system further includes: a second transmission mechanism 94 , a steering wheel shaft 95 and a torque sensor 50 . The second transmission mechanism 94 is disposed in the housing 90 and may be in the form of a driving gear capable of meshing with the threaded section of the rack 91 . The steering wheel shaft 95 is partially disposed in the housing 90 and is drivingly connected to the threaded section through the second transmission mechanism 94 . The torque sensor 50 is provided on the steering wheel shaft 95 and is configured to sense the torque of the steering wheel shaft 95 .
上述滑板底盘转向***的各个实施例可适用于各类滑板底盘。因此,本公开实施例提供了一种滑板底盘,包括前述任一种滑板底盘转向***的实施例。由于滑板底盘转向***实施例具有更优的安全性,使得滑板底盘的运行也更加安全。Each embodiment of the above-mentioned skateboard chassis steering system can be applied to various types of skateboard chassis. Therefore, embodiments of the present disclosure provide a skateboard chassis, including any of the foregoing embodiments of a skateboard chassis steering system. Since the embodiment of the steering system of the skateboard chassis has better safety, the operation of the skateboard chassis is also safer.
上述滑板底盘的各个实施例可适用于各类车辆,例如新能源汽车等。因此本公开实施例提供了一种车辆,包括前述任一种滑板底盘的实施例。该车辆可以为新能源汽车。由于滑板底盘具有更优的安全性,使得车辆的驾驶和行驶也更加安全。Various embodiments of the above skateboard chassis can be applied to various types of vehicles, such as new energy vehicles. Therefore, embodiments of the present disclosure provide a vehicle, including any of the foregoing embodiments of a skateboard chassis. The vehicle may be a new energy vehicle. Because the skateboard chassis has better safety, the driving and driving of the vehicle are also safer.
参考前述滑板底盘转向***实施例,下面提供一个滑板底盘转向***具体执行实例来辅助说明。With reference to the foregoing embodiment of the skateboard chassis steering system, a specific implementation example of the skateboard chassis steering system is provided below to assist in the explanation.
在驾驶者操纵方向盘的场景下,方向盘在被驾驶者扭转时,扭矩传感器可将方向盘轴的扭矩信号发送给目前正在使用的转向控制子***中的处理器,如果第一转向控制子***和第二转向控制子***均处于使用状态,则扭矩传感器将方向盘轴的扭矩信号分别发送给第一处理器和第二处理器。In the scenario where the driver controls the steering wheel, when the steering wheel is twisted by the driver, the torque sensor can send the torque signal of the steering wheel shaft to the processor in the steering control subsystem currently being used. If the first steering control subsystem and the third steering control subsystem When both steering control subsystems are in use, the torque sensor sends the torque signal of the steering wheel shaft to the first processor and the second processor respectively.
接收到该扭矩信号的处理器可根据该扭矩信号计算出方向盘当前的转向角度及转向速度,该转向角度及转向速度可用于车辆的直线行驶校正等功能。根据驾驶者所驾驶的车辆的运行参数(可来自车辆的局域网总线网络),例如车速、发动机转速、轮速等结合方向盘轴的扭矩信号查询存储在处理器内或处理器可访问的存储器内的特性曲线来确定出转向助力需求值,从而通过门驱动单元和驱动桥向转向助力电机内对应的绕组输出相应的电流来驱动和控制转向助力电机输出扭矩。The processor that receives the torque signal can calculate the current steering angle and steering speed of the steering wheel based on the torque signal. The steering angle and steering speed can be used for functions such as straight-line driving correction of the vehicle. According to the operating parameters of the vehicle driven by the driver (which can come from the vehicle's LAN bus network), such as vehicle speed, engine speed, wheel speed, etc., combined with the torque signal of the steering wheel shaft, the information stored in the processor or in the memory accessible to the processor is queried. The characteristic curve is used to determine the steering assist demand value, so that the corresponding current is output to the corresponding winding in the steering assist motor through the door drive unit and the transaxle to drive and control the steering assist motor output torque.
转向助力电机输出的扭矩经皮带带动球循环螺母转动,而球循环螺母的转动通过其与齿条上的螺纹段的配合转换成齿条的直线移动,而方向盘轴的扭矩经主动齿轮与齿条上的螺纹段的配合也转化成齿条的直线运动,通过叠加齿条的直线运动来带动转向拉杆运动来实现转向助力功能。转向拉杆的直线运动能够使车轮绕其转向轴向相应方向摆动。The torque output by the steering assist motor drives the ball circulation nut to rotate through the belt, and the rotation of the ball circulation nut is converted into the linear movement of the rack through its cooperation with the threaded section on the rack, while the torque of the steering wheel shaft passes through the driving gear and rack The cooperation of the threaded segments on the steering wheel is also transformed into the linear motion of the rack. By superimposing the linear motion of the rack, the steering rod moves to realize the steering assist function. The linear movement of the steering rod causes the wheel to swing in the corresponding direction around its steering axis.
在这个过程中,设置在转向助力电机中的转子位置传感单元能够感测到转向助力电机中转子的转动位置,以计算出所述转向助力电机的输出轴的转动角度和角速度, 并反馈给对应的处理器,以实现闭环控制。In this process, the rotor position sensing unit provided in the power steering motor can sense the rotational position of the rotor in the power steering motor to calculate the rotation angle and angular velocity of the output shaft of the power steering motor, and feed them back to Corresponding processor to achieve closed-loop control.
在有限自动驾驶或自动驾驶的场景下,当前工作的转向控制子***中的处理器可通过对应的收发器接收来自局域网总线网络的用于智能驾驶辅助功能的指令或用于智能泊车功能的指令,并根据所述指令驱动和控制所述转向助力电机输出扭矩来实现转向功能。In the scenario of limited autonomous driving or autonomous driving, the processor in the currently working steering control subsystem can receive instructions for intelligent driving assistance functions or instructions for intelligent parking functions from the LAN bus network through the corresponding transceiver. instructions, and drives and controls the power steering motor to output torque according to the instructions to achieve the steering function.
在方向盘无输入的情况下,转向助力电机输出的扭矩可以通过第一传动机构单独作用在齿条上来实现车辆的转向功能;而在方向盘有输入的情况下,转向助力电机输出的扭矩可以与方向盘轴输入的扭矩通过进行结合来实现车辆的转向功能。When there is no input from the steering wheel, the torque output by the steering assist motor can act on the rack alone through the first transmission mechanism to realize the steering function of the vehicle; and when there is input from the steering wheel, the torque output by the steering assist motor can be combined with the steering wheel. The torque input from the shaft is combined to achieve the steering function of the vehicle.
至此,已经详细描述了本公开的各实施例。为了避免遮蔽本公开的构思,没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述,完全可以明白如何实施这里公开的技术方案。Up to this point, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concepts of the present disclosure, some details that are well known in the art have not been described. Based on the above description, those skilled in the art can completely understand how to implement the technical solution disclosed here.
虽然已经通过示例对本公开的一些特定实施例进行了详细说明,但是本领域的技术人员应该理解,以上示例仅是为了进行说明,而不是为了限制本公开的范围。本领域的技术人员应该理解,可在不脱离本公开的范围和精神的情况下,对以上实施例进行修改或者对部分技术特征进行等同替换。本公开的范围由所附权利要求来限定。Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the disclosure is defined by the appended claims.
Claims (16)
- 一种滑板底盘转向***,包括:A skateboard chassis steering system includes:转向助力电机(30),具有第一绕组(31)和第二绕组(32);A steering assist motor (30) has a first winding (31) and a second winding (32);第一转向控制子***(10),包括第一处理器(11)、第一门驱动单元(12)和第一驱动桥(13),所述第一处理器(11)通过所述第一门驱动单元(12)和所述第一驱动桥(13)对所述第一绕组(31)进行驱动和控制;和The first steering control subsystem (10) includes a first processor (11), a first door drive unit (12) and a first drive axle (13). The first processor (11) passes the first The gate drive unit (12) and the first drive bridge (13) drive and control the first winding (31); and第二转向控制子***(20),包括第二处理器(21)、第二门驱动单元(22)和第二驱动桥(23),所述第二处理器(21)通过所述第二门驱动单元(22)和所述第二驱动桥(23)对所述第二绕组(32)进行驱动和控制;The second steering control subsystem (20) includes a second processor (21), a second door drive unit (22) and a second drive axle (23). The second processor (21) passes the second The gate drive unit (22) and the second drive bridge (23) drive and control the second winding (32);其中,所述第一转向控制子***(10)和所述第二转向控制子***(20)被配置为在所述第一转向控制子***(10)和所述第二转向控制子***(20)中的一个失效时,另一个继续驱动和控制所述转向助力电机(30)提供转向助力。Wherein, the first steering control subsystem (10) and the second steering control subsystem (20) are configured to operate between the first steering control subsystem (10) and the second steering control subsystem (20). When one of 20) fails, the other one continues to drive and control the steering assist motor (30) to provide steering assist.
- 根据权利要求1所述的滑板底盘转向***,其中,所述第一处理器(11)和所述第二处理器(21)电流分离。The skateboard chassis steering system according to claim 1, wherein the first processor (11) and the second processor (21) are galvanically separated.
- 根据权利要求1或2所述的滑板底盘转向***,其中,所述第一转向控制子***(10)还包括:The skateboard chassis steering system according to claim 1 or 2, wherein the first steering control subsystem (10) further includes:第一电源单元(14),与所述第一处理器(11)、所述第一门驱动单元(12)和所述第一驱动桥(13)均电连接,被配置为与供电端和接地端电连接,以便向所述第一处理器(11)、所述第一门驱动单元(12)和所述第一驱动桥(13)供电;The first power supply unit (14) is electrically connected to the first processor (11), the first door drive unit (12) and the first drive bridge (13), and is configured to be connected to the power supply terminal and the first drive bridge (13). The ground terminal is electrically connected to provide power to the first processor (11), the first door drive unit (12) and the first drive bridge (13);所述第二转向控制子***(20)还包括:The second steering control subsystem (20) also includes:第二电源单元(24),与所述第二处理器(21)、所述第二门驱动单元(22)和所述第二驱动桥(23)均电连接,被配置为与供电端和接地端电连接,以便向所述第二处理器(21)、所述第二门驱动单元(22)和所述第二驱动桥(23)供电。The second power supply unit (24) is electrically connected to the second processor (21), the second door drive unit (22) and the second drive bridge (23), and is configured to be connected to the power supply terminal and the second drive bridge (23). The ground terminal is electrically connected to provide power to the second processor (21), the second door drive unit (22) and the second drive bridge (23).
- 根据权利要求3所述的滑板底盘转向***,其中,所述第一转向控制子***(10)还包括:The skateboard chassis steering system according to claim 3, wherein the first steering control subsystem (10) further includes:第一***基础芯片(15),与所述第一电源单元(14)电连接,被配置为连接第一打火单元(41),并根据所述第一打火单元(41)提供的打火信号对所述第一电源单元(14)的输出进行控制,以便对所述第一转向控制子***(10)进行唤醒;The first system basis chip (15) is electrically connected to the first power supply unit (14), is configured to connect to the first ignition unit (41), and generates ignition according to the ignition provided by the first ignition unit (41). The fire signal controls the output of the first power supply unit (14) to wake up the first steering control subsystem (10);所述第二转向控制子***(20)还包括:The second steering control subsystem (20) also includes:第二***基础芯片(25),与所述第二电源单元(24)电连接,被配置为连接第二打火单元(42),并根据所述第二打火单元(42)提供的打火信号对所述第二电源单元(24)的输出进行控制,以便对所述第二转向控制子***(20)进行唤醒。The second system basis chip (25) is electrically connected to the second power supply unit (24), is configured to connect to the second ignition unit (42), and generates ignition according to the ignition provided by the second ignition unit (42). The fire signal controls the output of the second power supply unit (24) to wake up the second steering control subsystem (20).
- 根据权利要求1~4任一所述的滑板底盘转向***,还包括:The skateboard chassis steering system according to any one of claims 1 to 4, further comprising:扭矩传感器(50),与所述第一处理器(11)和所述第二处理器(21)信号连接,被配置为感测方向盘轴(95)的扭矩,并将扭矩信号分别传输给所述第一处理器(11)和所述第二处理器(21)。A torque sensor (50), signally connected to the first processor (11) and the second processor (21), is configured to sense the torque of the steering wheel shaft (95) and transmit the torque signal to the respective The first processor (11) and the second processor (21).
- 根据权利要求5所述的滑板底盘转向***,其中,所述第一处理器(11)和所述第二处理器(21)均被配置为根据所述扭矩信号驱动和控制所述转向助力电机(30)输出与所述方向盘轴(95)的扭矩组合的助力扭矩来实现转向功能。The skateboard chassis steering system according to claim 5, wherein the first processor (11) and the second processor (21) are each configured to drive and control the steering assist motor according to the torque signal. (30) Output the power assist torque combined with the torque of the steering wheel shaft (95) to achieve the steering function.
- 根据权利要求1~6任一所述的滑板底盘转向***,还包括:The skateboard chassis steering system according to any one of claims 1 to 6, further comprising:第一收发器(61),与所述第一处理器(11)信号连接,被配置为与局域网总线网络(70)信号连接,以便接收来自所述局域网总线网络(70)的信号;和A first transceiver (61) in signal connection with the first processor (11) and configured to be in signal connection with the LAN bus network (70) to receive signals from the LAN bus network (70); and第二收发器(62),与所述第二处理器(21)信号连接,被配置为与局域网总线网络(70)信号连接,以便接收来自所述局域网总线网络(70)的信号。A second transceiver (62), in signal connection with the second processor (21), is configured to be in signal connection with the LAN bus network (70) so as to receive signals from the LAN bus network (70).
- 根据权利要求7所述的滑板底盘转向***,其中,所述第一处理器(11)和所述第二处理器(21)均被配置为在接收到来自所述局域网总线网络(70)的用于智能驾驶辅助功能的指令或用于智能泊车功能的指令时,根据所述指令驱动和控制所述转向助力电机(30)输出扭矩来实现转向功能。The skateboard chassis steering system according to claim 7, wherein the first processor (11) and the second processor (21) are configured to receive a response from the local area network bus network (70). When the instruction is used for the intelligent driving assistance function or the instruction for the intelligent parking function, the steering assist motor (30) is driven and controlled according to the instruction to output torque to realize the steering function.
- 根据权利要求1~8任一所述的滑板底盘转向***,还包括:The skateboard chassis steering system according to any one of claims 1 to 8, further comprising:转子位置传感单元(80),设置在所述转向助力电机(30)内,并与所述第一处理器(11)和所述第二处理器(21)信号连接,被配置为感测所述转向助力电机(30)中转子的转动位置,以计算出所述转向助力电机(30)的输出轴的转动角度和角速度,并反馈给所述第一处理器(11)和所述第二处理器(21),以实现闭环控制。A rotor position sensing unit (80) is provided in the steering assist motor (30) and is signally connected to the first processor (11) and the second processor (21), and is configured to sense The rotational position of the rotor in the steering assist motor (30) is used to calculate the rotation angle and angular velocity of the output shaft of the steering assist motor (30), and is fed back to the first processor (11) and the third processor (11). Two processors (21) to achieve closed-loop control.
- 根据权利要求9所述的滑板底盘转向***,其中,所述转子位置传感单元(80)包括:多个转子位置传感器。The skateboard chassis steering system according to claim 9, wherein the rotor position sensing unit (80) includes: a plurality of rotor position sensors.
- 根据权利要求1~10任一所述的滑板底盘转向***,还包括:The skateboard chassis steering system according to any one of claims 1 to 10, further comprising:壳体(90);Shell(90);齿条(91),可移动地设置在所述壳体(90)内,且具有螺纹段;The rack (91) is movably arranged in the housing (90) and has a threaded section;转向拉杆(92),部分地设置在所述壳体(90)内,并与所述齿条(91)的至少 一端连接;A steering tie rod (92) is partially provided in the housing (90) and connected to at least one end of the rack (91);第一传动机构(93),设置在所述壳体(90)内;The first transmission mechanism (93) is provided in the housing (90);其中,所述转向助力电机(30)设置在所述壳体(90)内,且所述转向助力电机(30)的输出轴通过所述第一传动机构(93)与所述螺纹段传动连接。Wherein, the power steering motor (30) is disposed in the housing (90), and the output shaft of the power steering motor (30) is drivingly connected to the threaded section through the first transmission mechanism (93). .
- 根据权利要求11所述的滑板底盘转向***,还包括:The skateboard chassis steering system according to claim 11, further comprising:第二传动机构(94),设置在所述壳体(90)内;The second transmission mechanism (94) is provided in the housing (90);方向盘轴(95),部分地设置在所述壳体(90)内,并通过所述第二传动机构(94)与所述螺纹段传动连接;The steering wheel shaft (95) is partially provided in the housing (90) and is drivingly connected to the threaded section through the second transmission mechanism (94);扭矩传感器(50),设置在所述方向盘轴(95)上,被配置为感测所述方向盘轴(95)的扭矩。A torque sensor (50) is provided on the steering wheel shaft (95) and is configured to sense torque of the steering wheel shaft (95).
- 根据权利要求11或12所述的滑板底盘转向***,其中,所述齿条(91)的轴线与所述转向助力电机(30)的输出轴的轴线平行。The skateboard chassis steering system according to claim 11 or 12, wherein the axis of the rack (91) is parallel to the axis of the output shaft of the steering assist motor (30).
- 根据权利要求11~13任一所述的滑板底盘转向***,其中,所述第一传动机构(93)包括:The skateboard chassis steering system according to any one of claims 11 to 13, wherein the first transmission mechanism (93) includes:球循环螺母,与所述螺纹段以滚珠丝杠配合的方式连接;A ball recirculation nut is connected to the threaded section in a ball screw manner;皮带,连接在所述转向助力电机(30)的输出轴和所述球循环螺母之间。A belt is connected between the output shaft of the power steering motor (30) and the ball recirculation nut.
- 一种滑板底盘,包括:A skateboard chassis includes:权利要求1~14任一所述的滑板底盘转向***。The skateboard chassis steering system according to any one of claims 1 to 14.
- 一种车辆,包括:A vehicle including:权利要求15所述的滑板底盘。The skateboard chassis according to claim 15.
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CN202211030164.XA CN115257915A (en) | 2022-08-24 | 2022-08-24 | Scooter chassis steering system, scooter chassis and vehicle |
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US20040262073A1 (en) * | 2003-06-30 | 2004-12-30 | Visteon Global Technologies, Inc. | Motor vehicle steering system |
CN208530686U (en) * | 2018-06-22 | 2019-02-22 | 北京汽车股份有限公司 | Electric Power Steering Control System |
CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
CN112660235A (en) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | Redundant power steering system, control method thereof and vehicle |
CN115257915A (en) * | 2022-08-24 | 2022-11-01 | 合众新能源汽车有限公司 | Scooter chassis steering system, scooter chassis and vehicle |
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2022
- 2022-08-24 CN CN202211030164.XA patent/CN115257915A/en not_active Withdrawn
- 2022-12-15 WO PCT/CN2022/139278 patent/WO2024040808A1/en unknown
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US20040262073A1 (en) * | 2003-06-30 | 2004-12-30 | Visteon Global Technologies, Inc. | Motor vehicle steering system |
CN208530686U (en) * | 2018-06-22 | 2019-02-22 | 北京汽车股份有限公司 | Electric Power Steering Control System |
CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
CN112660235A (en) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | Redundant power steering system, control method thereof and vehicle |
CN115257915A (en) * | 2022-08-24 | 2022-11-01 | 合众新能源汽车有限公司 | Scooter chassis steering system, scooter chassis and vehicle |
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