The invention discloses a steer-by-wire device with a full redundancy function and a control method, and the main design concept is that the steer-by-wire device with the full redundancy function obtains four paths of redundant torque signals and two paths of redundant steering angle signals through a torque steering angle sensor on a steering wheel; two paths of redundant rotation angle signals are obtained by a rotation angle sensor on a gear shaft so as to obtain accurate torque rotation angle information; besides, a road feeling motor and a steering motor both adopt double three-phase permanent magnet synchronous motors, and a road feeling motor controller and a steering motor controller both adopt a double-control-unit framework and a redundancy communication mechanism, so that through the detailed redundancy design in the three aspects, when three phases cannot work due to drive-by-wire single-point failure, the control-by-wire single-point failure can be ensured, and the control-by-wire single-point failure can be realized. The system still has road feeling feedback and steering execution capabilities, and can still work normally when key parts of the steering system fail by combining with the design of a rack force and reference hand force calculation strategy in control logic, so that the stability and safety of vehicle driving are ensured.
本发明公开了一种具备全冗余功能的线控转向装置及控制方法,主要设计构思在于,具备全冗余功能的线控转向装置通过方向盘上的扭矩转角传感器获得冗余的四路扭矩信号和两路转角信号,由齿轮轴上的转角传感器获得冗余的两路转角信号,以获取准确的转矩转角信息;此外,路感电机和转向电机均采用双三相永磁同步电机,且路感电机控制器和转向电机控制器均采用双控制单元架构和冗余通讯机制,通过上述三方面细化的冗余设计保证在发生线控单点失效导致其中三相无法工作时,系统仍具备路感反馈和转向执行能力,再结合控制逻辑中齿条力和参考手力计算策略的设计,在转向系统关键部件失效时仍能保持系统正常工作,以此确保车辆行驶的稳定性和安全性。
Steer-by-wire device with full redundancy function and control method
具备全冗余功能的线控转向装置及控制方法
27.09.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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