Dual-redundancy steer-by-wire system

Abstract

The present invention relates to the technical field of vehicle steering, and in particular to a dual-redundancy steer-by-wire system. The dual-redundancy steer-by-wire system provided in the present invention comprises a steering axle, a link mechanism, a steering arm, a speed reducer, a connecting flange, a steering electric motor and a steering controller, wherein the steering controller controls the driving of the steering electric motor, the steering electric motor drives the speed reducer to rotate, the speed reducer drives the steering arm to swing, and the steering axle is driven by the link mechanism to steer. In the dual-redundancy steer-by-wire system provided in the present invention, a steer-by-wire mode is used, such that the system is energy-saving and environmentally friendly, and the cost and mounting difficulty are reduced; and the system has a compact overall structure, is convenient to mount, does not need pipeline connection, and is particularly suitable for multi-axis steering system arrangement; and a dual-winding electric motor and an RV speed reducer are used, such that the service life is prolonged, and steering reliability and accuracy are ensured.

Description

A dual-redundant wire-controlled electric steering system Technical Field

[0001] The present invention relates to the technical field of vehicle steering, and more particularly to a dual-redundant wire-controlled electric steering system for steering a multi-axle heavy-duty vehicle. Background Art

[0002] Electric steering systems have been gradually adopted in small and medium-sized passenger vehicles, significantly improving their steering performance. However, they remain limited in medium- and heavy-duty passenger and freight commercial vehicles, which require greater power-assist torque. This is particularly true in heavy-duty multi-axle vehicles, where hydraulic power steering is often used. Compared to traditional hydraulic steering systems, electric steering systems offer advantages such as compact structure, no need for piping, energy conservation, and environmental protection, thus offering broad application prospects.

[0003] Existing multi-axle steering vehicles usually use hydraulic drive and proportional servo control methods to control the vehicle steering angle, which has disadvantages such as bulky size, oil leakage, and high cost.

[0004] At the same time, existing electric steering mostly adopts the form of motor plus circulating ball mechanical steering gear or ball screw electric cylinder, which has low reliability and life.

[0005] Chinese invention patent CN 103419835 A proposes a steer-by-wire system and control method for an automobile. This system precisely controls the steering wheel angle and uses a position servo system with a road-sensing motor to limit the steering angle, replacing the commonly used mechanical limiter mechanism. This steering system utilizes an electric steering device suitable for heavy- and super-heavy vehicles. However, its steering mechanism is driven by the steering wheel and the actuator is an electric cylinder, which has a low lifespan and reliability, and is difficult to install.

[0006] Chinese utility model patent CN 208149425 U proposes an unmanned steer-by-wire mechanism for electric vehicles, comprising: a fixed frame, loosely mounted on the steering wheel shaft and fixed at its lower end to the vehicle frame; a steering motor fixed to the fixed frame; a planetary gear reducer, the input of which is connected to the steering motor output shaft, the output of which is mounted on a driving spur gear; a driven spur gear mounted on the steering wheel shaft and capable of rotating with the shaft, the driven spur gear meshing with the driving spur gear; and a steering axle, disposed between the steering wheels and connected to the steering wheel shaft. The steering axle is driven by a drive motor, and the steering motor controls the steering wheel for automatic steering, ensuring that braking during manned and unmanned driving does not interfere with each other. This steering mechanism utilizes an electric steering gear, with a recirculating ball mechanical steering mechanism via a steering servo motor. It is suitable for distributed electric drive multi-axle vehicles with independent suspension and lacks redundant safety features.

[0007] In summary, there is currently no highly reliable electric steering-by-wire system suitable for multi-axle vehicles.

[0008] Summary of the Invention

[0009] The purpose of the present invention is to provide a dual-redundant wire-controlled electric steering system to solve the problems of low reliability and low life of steering systems applicable to multi-axle vehicles in the prior art.

[0010] Another object of the present invention is to provide a dual-redundant wire-controlled electric steering system to solve the problems of bulky, oil-leaking, and high cost of steering systems applicable to multi-axle vehicles in the prior art.

[0011] To achieve the above objectives, the present invention provides a dual-redundant wire-controlled electric steering system, including a steering axle, a connecting rod mechanism, a steering arm, a reducer, a connecting flange, a steering motor, and a steering controller:

[0012] The steering axle is connected to the connecting rod mechanism;

[0013] The connecting rod mechanism has one end connected to the steering arm;

[0014] The steering arm has one end connected to the reducer;

[0015] The reducer has one end connected to the steering motor;

[0016] The steering motor has one end connected to the steering controller;

[0017] The steering controller controls and drives the steering motor, which drives the reducer to rotate, and the reducer drives the steering arm to swing, and drives the steering axle to steer through the connecting rod mechanism.

[0018] In one embodiment, the dual-redundant electric power steering by wire system further includes a connecting flange:

[0019] The steering motor and the reducer are connected and fixed via a connecting flange.

[0020] In one embodiment, the steering controller receives a target steering angle instruction of the vehicle and controls the direction and speed of the steering motor.

[0021] In one embodiment, the steering motor is a dual-winding permanent magnet synchronous motor:

[0022] The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a high-voltage drive circuit and a low-voltage drive circuit respectively.

[0023] In one embodiment, the reducer is a rotating vector reducer.

[0024] In one embodiment, the steering arm and the reducer are connected via bolts.

[0025] In order to achieve the above object, the present invention provides a multi-axle vehicle, which adopts the dual redundant wire-controlled electric steering system as described in any one of the above

[0026] In one embodiment, the steering motor, the speed reducer, and the steering controller are installed in a cabin of a multi-axle vehicle.

[0027] In one embodiment, the steering motor is a dual-winding permanent magnet synchronous motor:

[0028] The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a high-voltage drive circuit and a low-voltage drive circuit respectively.

[0029] In one embodiment, the reducer is a rotating vector reducer.

[0030] This invention proposes a dual-redundant, by-wire electric steering system and multi-axle vehicle. This system utilizes advanced by-wire electric steering technology, significantly reducing energy consumption and production costs, simplifying installation, and eliminating the need for complex piping connections. Furthermore, the system boasts a compact structure and easy installation, making it particularly well-suited for multi-axle steering system layouts. The system also utilizes a dual-winding motor and RV reducer, ensuring the durability and accuracy of the steering system. This innovative design offers users an energy-efficient and environmentally friendly experience while significantly improving vehicle reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which like reference numerals represent like features throughout, wherein:

[0032] FIG1 illustrates a top view of a dual-redundant electric steering-by-wire system according to an embodiment of the present invention;

[0033] FIG2 illustrates a perspective view of a dual-redundant electric steering-by-wire system according to an embodiment of the present invention;

[0034] FIG3 illustrates a schematic diagram of an electric power steering arrangement according to an embodiment of the present invention.

[0035] The meanings of the reference numerals in the figure are as follows: 1 steering axle; 2 connecting rod mechanism; 3 steering arm; 4 reducer; 5 connecting flange; 6 steering motor; 7 steering controller; 811 axle; 812 axle; 813 axle; 814 axle; 815 axle; 816 axle; 821 articulated plate; 822 articulated plate; 830 vehicle interior cabin. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0037] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0038] FIG1 and FIG2 respectively disclose a top view and a perspective view of a dual-redundant wire-controlled electric steering system according to an embodiment of the present invention. As shown in FIG1 and FIG2 , the dual-redundant wire-controlled electric steering system proposed by the present invention includes a steering axle 1, a connecting rod mechanism 2, a steering arm 3, a reducer 4, a connecting flange 5, a steering motor 6, and a steering controller 7:

[0039] The steering axle 1 is connected to the connecting rod mechanism 2;

[0040] The connecting rod mechanism 2 is connected to the steering arm 3 at one end and to the steering axle 1 at the other end;

[0041] The steering arm 3 is connected to the reducer 4 at one end and to the connecting rod mechanism 2 at the other end;

[0042] The reducer 4 is connected to the steering motor 6 at one end and to the steering arm 3 at the other end;

[0043] The steering motor 6 has one end connected to the steering controller 7 and the other end connected to the reducer 4;

[0044] The steering controller 7 controls and drives the steering motor 6 , which drives the reducer 4 to rotate, and the reducer 4 drives the steering arm 3 to swing, and drives the steering axle 1 to steer through the connecting rod mechanism 2 .

[0045] In this embodiment, the steering arm 3 is connected to the reducer 4 by bolts. When the reducer 4 rotates, the steering arm 3 is driven to swing, and the steering axle 1 is driven to steer through the connecting rod mechanism 2.

[0046] In this embodiment, the reducer 4 is an RV rotating vector reducer (hereinafter referred to as RV reducer).

[0047] The RV reducer consists of a planetary gear reducer as the front stage and a cycloid pinwheel reducer as the rear stage. It has the characteristics of large transmission ratio, smooth transmission, large output torque, small size, and strong impact resistance. It is used for precision transmission of axle steering, reducing motor speed and increasing torque.

[0048] In this embodiment, the steering motor 6 and the reducer 4 are connected and fixed via a connecting flange 5 .

[0049] In this embodiment, the steering motor 6 drives the reducer 4 to obtain a low-speed, high-torque output, and the steering arm 3 drives the connecting rod mechanism 2 to drive the steering axle 1 to achieve steering.

[0050] Furthermore, the steering motor 6 is a dual-winding permanent magnet synchronous motor (abbreviated as dual-winding motor), which includes two sets of three-phase windings, and is driven by a set of high-voltage drive circuit and a low-voltage drive circuit respectively.

[0051] A winding is a group of turns of wire that form an electrical circuit corresponding to a certain voltage value marked on the transformer.

[0052] When one set of three-phase windings fails, another set of normal three-phase windings is used for fault-tolerant operation to avoid motor failure caused by an open or short circuit in the windings, thereby ensuring steering reliability.

[0053] In this embodiment, the steering controller 7 can receive a target steering angle instruction of the vehicle and control the direction and speed of the steering motor 6 .

[0054] The dual-redundant wire-controlled electric steering system proposed in the present invention adopts a wire-controlled electric steering method. No mechanical connection is required between the steering wheel and the steering gear. The steering wheel sends steering instructions, the steering controller controls the steering direction and speed of the steering motor, the reducer outputs high torque, and drives the connecting rod mechanism to drive the steering of the vehicle axle through the steering arm.

[0055] The present invention provides a multi-axle vehicle, which adopts the dual-redundant electric steering-by-wire system as described in any one of the above items.

[0056] FIG3 discloses a schematic diagram of an electric power steering arrangement according to an embodiment of the present invention. As shown in FIG3 , a multi-axle heavy-duty vehicle may include three carriages, namely a first carriage, a second carriage and a third carriage.

[0057] The first carriage is provided with axle 811 and axle 812;

[0058] The second carriage is provided with axle 813 and axle 814;

[0059] The third carriage is provided with axle 815 and axle 816 .

[0060] The first carriage and the second carriage are connected via a hinge plate 821;

[0061] The second carriage and the third carriage are connected via a hinge plate 822 .

[0062] In the embodiment shown in FIG3 , the steering motor, reducer and steering controller are core components, which are installed in the vehicle cabin 830 of the multi-axle vehicle, realizing the multi-axle steering distributed independent wire-controlled drive of the multi-axle vehicle, thereby increasing the convenience of installation and maintenance.

[0063] Furthermore, the steering motor is a dual-winding motor, and the reducer is an RV reducer. The dual-winding motor, the RV reducer and the steering controller are installed in the vehicle cabin 830 of the multi-axle vehicle.

[0064] The dual-redundant electric steering-by-wire system and multi-axle vehicle proposed in the present invention have the following beneficial effects:

[0065] 1) Adopting wire-controlled electric steering, which is energy-saving and environmentally friendly, and reduces costs and installation difficulty;

[0066] 2) The overall structure is compact and easy to install, without the need for pipeline connection, and is particularly suitable for multi-axis steering system layout;

[0067] 3) It adopts double-winding motor and RV reducer, which has long service life and ensures steering reliability and accuracy.

[0068] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0069] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0070] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0071] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or the internal connection of two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0072] The above embodiments are provided to persons familiar with the art for implementing or using the present invention. Personnel familiar with the art may make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the scope of protection of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. A dual redundant wire-controlled electric steering system, characterized in that: Including steering axle, connecting rod mechanism, steering arm, reducer, connecting flange, steering motor and steering controller: The steering axle is connected to the connecting rod mechanism; The connecting rod mechanism has one end connected to the steering arm; The steering arm has one end connected to the reducer; The reducer has one end connected to the steering motor; The steering motor has one end connected to the steering controller; The steering controller controls the steering motor, the steering motor drives the reducer to rotate, the reducer drives the steering arm to swing, and drives the steering axle to steer through the connecting rod mechanism.

2. The dual redundant electric power steering by wire system according to claim 1, characterized in that: Also includes connecting flange: The steering motor and the reducer are connected and fixed via a connecting flange.

3. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering controller receives the target steering angle instruction of the whole vehicle and controls the steering direction and speed of the steering motor.

4. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering motor is a double-winding permanent magnet synchronous motor: The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

5. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The reducer is a rotating vector reducer.

6. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering arm is connected to the reducer via bolts.

7. A multi-axle vehicle, characterized in that: A dual redundant electric steering by wire system as claimed in any one of claims 1 to 6 is adopted.

8. The multi-axle vehicle according to claim 7, characterized in that: The steering motor, the reducer and the steering controller are installed in the cabin of the multi-axle vehicle.

9. The multi-axle vehicle according to claim 8, characterized in that: The steering motor is a double-winding permanent magnet synchronous motor: The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

10. The multi-axle vehicle according to claim 8, characterized in that: The reducer is a rotating vector reducer.

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