Dual-motor redundant steer-by-wire device and control method thereof

Abstract

The invention discloses a dual-motor redundant steer-by-wire device and a control method thereof. The device comprises an electric control unit (ECU), a torque sensor, a motor, a steering gear rack, asteering gear pinion and a steer-by-wire mechanism. The electric control unit (ECU) of the device judges the steering intention of a driver by collecting steering wheel turning angle signals; when the steer-by-wire mechanism works normally, an electromagnetic clutch is disengaged, the motor plays a part in providing road feel, and a roller screw steering mechanism completes a steering instruction; when the steer-by-wire mechanism breaks down, the electromagnetic clutch is engaged, the motor rotates reversely, and the steering gear pinion and the steering gear rack complete the steering instruction and play a part in providing steering assistance. The device is simple in structure, high in precision and reliable in work, by means of the roller screw steering mechanism, steering displacement can be precisely controlled, and meanwhile, the device can automatically return to a mechanical steering state when the steer-by-wire mechanism fails to complete the steering instruction.

Description

technical field [0001] The invention relates to a dual-motor redundant wire-controlled steering device and a control method thereof. Background technique [0002] Automobile intelligence is developing rapidly, and steering by wire is a key link in the development process of automobile intelligence. Steering by wire technology has gradually matured and has been applied to various types of vehicles. The steer-by-wire system generally has a fault-tolerant function, which requires a large number of accurate algorithms, resulting in complex hardware layout, high cost, and low hardware utilization rate of the steer-by-wire system. [0003] In order to solve the problem of complex fault-tolerant functions of the above-mentioned system, based on the existing domestic research foundation, Yang Lin and Wu Zhicheng of Beijing Institute of Technology invented "a hybrid steering system by wire" (application number 201610989594.2). The steering wheel and The steering wheels have real-ti...

AI Technical Summary

Problems solved by technology

The steer-by-wire system generally has a fault-tolerant function, which requires a large number of precise algorithms, resulting in complex hardware layout, high cost, and low hardware utilization of the steer-by-wire system

[0003] In order to solve the problem of complex fault-tolerant functions of the above-mentioned system, based on the existing domestic research foundation, Yang Lin and Wu Zhicheng of Beijing Institute of Technology invented "a hybrid steering-by-wire system" (application number 201610989594.2). The steering wheel and The steering wheels have real-time controllable force transmission characteristics and angle transmission characteristics, and automatically return to the mechanical steering state when the system fails

However, the control system of this system is complex, and the amount of redundant control is too much. While the fault tolerance of the system is improved, it also increases the difficulty of the control system design.

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