CN113044107A - Redundant steer-by-wire executor architecture - Google Patents
Redundant steer-by-wire executor architecture Download PDFInfo
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- CN113044107A CN113044107A CN202110274246.8A CN202110274246A CN113044107A CN 113044107 A CN113044107 A CN 113044107A CN 202110274246 A CN202110274246 A CN 202110274246A CN 113044107 A CN113044107 A CN 113044107A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses a redundant steer-by-wire actuator architecture, which comprises a first structure and a second structure, and is characterized in that: the first structure includes: the system comprises a controller MCU unit, external interaction information, an internal signal feedback unit and an execution unit; sending an execution instruction to the execution unit according to the obtained external information and the internal feedback information obtained from the internal signal feedback unit, and controlling the output quantity of a steering execution motor; wherein the first structure and the second structure are a dual-path backup design which are redundant with each other; the invention solves the safety of the whole system, ensures that the system has a full redundancy architecture and realizes high driving safety.
Description
Technical Field
The invention relates to the technical field of automobile steering systems, in particular to a redundant steer-by-wire actuator architecture.
Background
Under the condition that the current electromotion and intellectualization are rapidly and increasingly developed, the configuration of an automatic driving function is the general development trend of a vehicle, and a steer-by-wire system, as a next generation core technology for steering, can be deeply integrated with automatic driving at the L4/L5 level, so that man-machine driving is realized, and better control experience is brought to the whole vehicle.
The steer-by-wire system, as a new type of steering system, is very closely combined with the current automatic driving, thus placing very high demands on the flexibility and safety of the system. The problem to be solved by the invention is the redundancy problem of the steering actuator.
Disclosure of Invention
The invention aims to provide a redundant actuator architecture, which solves the safety of the whole system, ensures that the system has a full redundant architecture, realizes high driving safety and solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a redundant steer-by-wire actuator architecture comprising a first structure and a second structure; the first structure includes: the system comprises a controller MCU unit, external interaction information, an internal signal feedback unit and an execution unit; sending an execution instruction to the execution unit according to the obtained external information and the internal feedback information obtained from the internal signal feedback unit, and controlling the output quantity of a steering execution motor; the steering execution motor is a six-phase double-winding motor; the first structure and the second structure are a dual-path backup design that are redundant of each other.
Preferably, the first controller MCU unit communicates with the first CAN through the first CAN transceiver unit; the first controller MCU unit and the second controller MCU unit are designed to be redundant mutually; the first CAN and the second CAN are designed in a redundant manner; the first CAN transceiving unit and the second CAN transceiving unit are designed in a redundant manner.
Preferably, the first controller MCU unit and the second controller MCU unit are connected by a serial interface SPI for communication.
Preferably, the first torque corner signal obtains a steering wheel corner and steering rod torque information and inputs the steering wheel corner and steering rod torque information into the first controller MCU, and the first torque corner signal is composed of two torque signals and one corner signal, and is designed to be redundant with the second torque corner signal.
Preferably, the first power supply and the first ignition IGN are connected with a first power supply management, and the first power supply management is connected with the first controller MCU and used for supplying power to the first controller MCU according to the automobile ignition condition; the first power supply management has a filtering and voltage stabilizing function; the first power supply and the second power supply are designed in a redundant manner; the first ignition IGN and the second ignition IGN are designed in a mutually redundant manner; the first power management and the second power management are designed to be redundant.
Preferably, the six-phase double-winding motor is controlled as two groups of three-phase motors, and the outputs of the two groups of three-phase motors are designed in a mutual redundancy mode.
Preferably, the motor first rotor position sensor and the motor second rotor position sensor output a motor first rotor position signal and a motor second rotor position signal respectively, each has two independent corner outputs, and the two corner outputs are output to the first controller MCU and the second controller MCU respectively, so that the calibration and redundancy of the motor rotor position are realized, and the motor rotor position is guaranteed to reach the ASILD grade.
Preferably, the first structure execution unit comprises a first pre-drive, a first drive axle and a steering execution motor; the first pre-driver is connected with a first controller MCU and a first drive axle; the first drive axle is connected with a steering execution motor; the first power supply management is connected with a first pre-driver; the first power supply is connected with a first drive axle; when the first controller MCU sends out an execution instruction, controlling the steering execution motor to be electrified and operated; the first pre-driver and the second pre-driver are designed in a redundant manner; the first drive axle and the second drive axle are designed in a redundant mode.
Preferably, the first three-phase isolation mos is connected with the first drive axle and the actuating motor; sampling and feeding back a first current between the first three-phase isolation mos and the first drive axle to the first controller MCU; the first three-phase isolation mos and the second three-phase isolation mos are designed in a redundant manner; the first current sample and the second current sample are designed to be redundant with each other.
Preferably, the control architecture of the first current sample and the second current sample is three current samples respectively.
Compared with the prior art, the invention has the beneficial effects that: a redundant six-phase winding motor and a redundant controller are configured, a redundant scheme of a steering actuating mechanism is designed, and the redundant control of the steering actuating mechanism is realized; and current sampling is performed, three paths of current sampling are adopted by each control framework, the sampling is more accurate, the loop stability is higher, the calculated amount is reduced for the MCU of the processor, and the stability of the whole system is facilitated.
Drawings
FIG. 1 is a schematic diagram showing the general architecture of a redundant steer-by-wire actuator;
FIG. 2 is a schematic view of a redundant steer-by-wire actuator motor rotor position sampling;
FIG. 3 is a schematic diagram of current sampling for a redundant steer-by-wire actuator
In the figure: 1. a first structure; 11. a first power supply; 12. a first ignition IGN; 13. a first CAN; 14. a first torque angle signal; 15. a first CAN transmitting-receiving unit; 16. a first controller MCU unit; 17. a first power management; 18. a first pre-drive; 19. a first drive axle; 10. a first current sample; 101. a first three isolated mos; 102. a first rotor position signal; 2. a second structure; 21. a second power supply; 22. a second ignition IGN; 23. a second CAN; 24. a second torque angle signal; 25. a second CAN transmitting-receiving unit; 26. a second controller MCU unit; 27. second power management; 28. second pre-driving; 29. a second drive axle; 20. sampling a second current; 201. a second third isolated mos; 202. a second rotor position signal; 3 a steering actuating motor;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a redundant steer-by-wire actuator architecture comprising a first structure 1 and a second structure 2; the first structure 1 includes: the system comprises a controller MCU unit, external interaction information, an internal signal feedback unit and an execution unit; sending an execution instruction to the execution unit according to the obtained external information and the internal feedback information obtained from the internal signal feedback unit, and controlling the output quantity of a steering execution motor; the steering execution motor 3 is a six-phase double-winding motor; the first structure 1 and the second structure 2 are of a two-way backup design that are redundant to each other.
Further, the first controller MCU unit 16 communicates with the first CAN13 through the first CAN transceiver unit 15; the first controller MCU unit 16 and the second controller MCU unit 26 are designed in a redundant way; the first CAN13 and the second CAN23 are designed to be redundant with each other; the first CAN transceiver unit 15 and the second CAN transceiver unit 25 are designed to be redundant with each other.
Further, the first controller MCU unit 16 and the second controller MCU unit 26 are connected by a serial interface SPI for communication.
Further, the first torque corner signal 14 obtains a steering wheel corner and steering rod torque information and inputs the steering wheel corner and steering rod torque information into the first controller MCU unit 16, and the first torque corner signal 14 is composed of two torque signals and one corner signal, and is designed to be redundant with the second torque corner signal 24.
Further, the first power supply 11 and the first ignition IGN12 are connected with a first power supply management 17, and the first power supply management 17 is connected with the first controller MCU unit 16 and is used for supplying power to the first controller MCU unit 16 according to the ignition condition of the automobile; the first power supply management 17 has a filtering and voltage stabilizing function; the first power supply 11 and the second power supply 21 are designed to be redundant; the first ignition IGN12 and the second ignition IGN22 are designed to be redundant with each other; the first power management 17 and the second power management 27 are designed to be redundant to each other.
Further, the steering execution motor 3 is a six-phase double-winding motor, the six-phase double-winding motor is controlled as two groups of three-phase motors, and the outputs of the two groups of three-phase motors are designed in a mutually redundant manner.
Further, a first rotor position sensor of the steering execution motor 3 and a second rotor position sensor of the steering execution motor 3 output a first rotor position signal 102 and a second rotor position signal 202 of the motor respectively, each has two independent corner outputs, and the two corner outputs are output to the first controller MCU16 and the second controller MCU26 respectively, so that the checking and redundancy of the rotor position of the motor are realized, and the rotor position of the motor is guaranteed to reach the ASILD grade.
Further, the first structure execution unit comprises a first pre-drive 18, a first drive axle 19 and a steering execution motor 3; the first pre-driver 18 is connected with a first controller MCU16 and a first drive axle 19; the first drive axle 19 is connected with the steering execution motor 3; the first power supply management 17 is connected with a first pre-driver 18; the first power supply 11 is connected with a first drive axle 19; when the first controller MCU16 sends out an execution instruction, the steering execution motor 3 is controlled to be electrified and operated; the first pre-driver 18 and the second pre-driver 28 are designed to be redundant with each other; the first drive axle 19 and the second drive axle 29 are designed to be redundant to each other.
Further, a first three-phase isolation mos101 connects the first drive axle 19 and the actuator motor 3; a first current sample 10 between the first three-phase isolation mos101 and the first drive bridge 19 is fed back to the first controller MCU 16; the first three-phase isolation mos101 and the second three-phase isolation mos201 are designed in a redundant manner; the first current sample 10 and the second current sample 20 are of mutually redundant design.
Further, each control structure of the first current sample 10 and the second current sample 20 is a three-way current sample.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A redundant steer-by-wire actuator architecture comprising a first structure (1) and a second structure (2), characterized by: the first structure (1) comprises: the system comprises a controller MCU unit, external interaction information, an internal signal feedback unit and an execution unit; sending an execution instruction to the execution unit according to the obtained external information and the internal feedback information obtained from the internal signal feedback unit, and controlling the output quantity of a steering execution motor; the steering execution motor (3) is a six-phase double-winding motor; the first structure (1) and the second structure (2) are of a redundant two-way backup design.
2. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the first controller MCU (16) unit communicates with the first CAN (13) through the first CAN transceiving unit (15); the first controller MCU unit (16) and the second controller MCU unit (26) are designed to be redundant with each other; the first CAN (13) and the second CAN (23) are designed to be redundant with each other; the first CAN transceiving unit (15) and the second CAN transceiving unit (25) are designed to be redundant with each other.
3. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the first controller MCU unit (16) and the second controller MCU unit (26) are connected through a serial interface SPI for communication.
4. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the steering wheel angle and steering rod torque information obtained by the first torque angle signal (14) is input into the first controller MCU unit (16), the first torque angle signal (14) is composed of two paths of torque signals and one path of angle signal, and the first torque angle signal and the second torque angle signal (24) are designed in a redundant mode.
5. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the first power supply (11) and the first ignition IGN (12) are connected with a first power supply management unit (17), and the first power supply management unit (17) is connected with a first controller MCU unit (16) and used for supplying power to the first controller MCU unit (16) according to the automobile ignition condition; the first power supply management (17) has a filtering and voltage-stabilizing function; the first power supply (11) and the second power supply (21) are designed to be redundant with each other; the first ignition IGN (12) and the second ignition IGN (22) are designed to be redundant with each other; the first power supply management (17) and the second power supply management (27) are designed to be redundant with each other.
6. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the steering execution motor (3) is a six-phase double-winding motor, the six-phase double-winding motor is controlled as two groups of three-phase motors, and the outputs of the two groups of three-phase motors are designed in a mutual redundancy mode.
7. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the motor first rotor position sensor and the motor second rotor position sensor respectively output a motor first rotor position signal (102) and a motor second rotor position signal (202), each has two independent corner outputs, and the two independent corner outputs are respectively output to the first controller MCU (16) and the second controller MCU (26), so that the checking and redundancy of the motor rotor position are realized, and the motor rotor position is ensured to reach the ASILD grade.
8. A redundant steer-by-wire actuator architecture according to claim 1, wherein: the first structure (1) execution unit comprises a first pre-drive (18), a first drive axle (19) and a steering execution motor (3); the first pre-driver (18) is connected with a first controller MCU (16) and a first drive axle (19); the first drive axle (19) is connected with a steering execution motor (3); the first power supply management (17) is connected with a first pre-driver (18); the first power supply (11) is connected with a first drive axle (19); when the first controller MCU (16) sends out an execution instruction, the steering execution motor (3) is controlled to be electrified and operated; the first pre-driver (18) and the second pre-driver (28) are designed to be redundant mutually; the first drive axle (19) and the second drive axle (29) are designed to be redundant with each other.
9. A redundant steer-by-wire actuator architecture according to claim 7, wherein: the first three-phase isolation mos (101) is connected with the first drive axle (19) and the steering execution motor (3); feeding back a first current sample (10) between a first three-phase isolation mos (101) and a first drive axle (19) to a first controller MCU (16); the first three-phase isolation mos (101) and the second three-phase isolation mos (201) are designed in a redundant manner; the first current sample (10) and the second current sample (20) are designed to be redundant to each other.
10. A redundant steer-by-wire actuator architecture according to claim 8, wherein: the control framework of the first current sample (10) and the second current sample (20) is three current samples respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110274246.8A CN113044107A (en) | 2021-03-15 | 2021-03-15 | Redundant steer-by-wire executor architecture |
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| CN202110274246.8A CN113044107A (en) | 2021-03-15 | 2021-03-15 | Redundant steer-by-wire executor architecture |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954957A (en) * | 2021-11-22 | 2022-01-21 | 中国第一汽车股份有限公司 | Torque sensor redundancy control method and device, steer-by-wire system and vehicle |
| CN114889690A (en) * | 2022-05-27 | 2022-08-12 | 上海集度汽车有限公司 | Steer-by-wire system and vehicle |
| CN114954640A (en) * | 2022-07-04 | 2022-08-30 | 苏州衡鲁汽车部件有限公司 | Road feel simulation device for steer-by-wire system and control method thereof |
| CN115214765A (en) * | 2022-01-04 | 2022-10-21 | 广州汽车集团股份有限公司 | Redundant power-assisted steering system and vehicle |
| CN116142294A (en) * | 2023-03-22 | 2023-05-23 | 重庆长安汽车股份有限公司 | Chassis domain controller, chassis system architecture and vehicle |
| CN117681814A (en) * | 2023-12-29 | 2024-03-12 | 域磐科技(上海)有限公司 | Chassis domain controller redundancy architecture and control method thereof |
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| CN112249151A (en) * | 2020-08-14 | 2021-01-22 | 北京新能源汽车技术创新中心有限公司 | Wire-controlled steering system, control method and automobile |
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| CN113954957A (en) * | 2021-11-22 | 2022-01-21 | 中国第一汽车股份有限公司 | Torque sensor redundancy control method and device, steer-by-wire system and vehicle |
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| CN117681814A (en) * | 2023-12-29 | 2024-03-12 | 域磐科技(上海)有限公司 | Chassis domain controller redundancy architecture and control method thereof |
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Application publication date: 20210629 |