Vehicle multi-mode switching steering system with energy recovery and redundancy safety functions and control method

Abstract

The invention discloses a vehicle multi-mode switching steering system with energy recovery and redundancy safety functions and a control method, and relates to the technical field of automobile steering systems, the vehicle multi-mode switching steering system comprises a VCU, a road sensing motor, a steering tie rod, a power-assisted motor, a reversible motor, a steering shaft lower part, a worm gear reducer and a steering shaft upper part, a steering wheel is connected to the upper end of the upper portion of the steering shaft, the lower end of the upper portion of the steering shaft is connected with the output end of a worm gear reducer, and the input end of the worm gear reducer is connected with the output end of a road feeling motor. And a reversible motor is introduced to serve as a dual assembly of energy recovery and power-assisted steering, and in a specific steering mode, mechanical energy generated in steering operation can be captured and converted through an integrated energy recovery module, so that the mechanical energy is changed into reusable electric energy, and the energy utilization efficiency and the environmental protection performance of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile steering systems, and in particular to a vehicle multi-mode switching steering system with energy recovery and redundant safety functions and a control method. Background Art

[0002] The automobile steering system is a series of devices used to change or maintain the direction of the automobile's travel or reverse. The function of the automobile steering system is to control the direction of the automobile according to the driver's wishes. The automobile steering system is vital to the driving safety of the automobile, so the parts of the automobile steering system are called safety parts.

[0003] The design of traditional steering systems mainly focuses on the accuracy and safety of steering, but less on the optimal use of energy. In the current automotive steering system technology, most steering systems do not integrate energy recovery function devices. When the driver turns the steering wheel, whether it is an electric power steering system or a hydraulic power steering system, they will generate a certain amount of heat while providing steering assistance. The energy consumed by the steering mechanism is usually dissipated in the form of heat energy and cannot be recovered and reused. This energy loss not only means energy waste, but also has a negative impact on the overall energy utilization efficiency of the vehicle. For this reason, a vehicle multi-mode switching steering system and control method with energy recovery and redundant safety functions are proposed. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to propose a vehicle multi-mode switching steering system and a control method with energy recovery and redundant safety functions.

[0005] A vehicle multi-mode switching steering system with energy recovery and redundant safety functions, comprising a VCU, a road sensing motor, a steering tie rod, a power assist motor, a reversible motor, a steering shaft lower part, a worm gear reducer and a steering shaft upper part;

[0006] The upper end of the upper part of the steering shaft is connected to a steering wheel, the lower end of the upper part of the steering shaft is connected to the output end of the worm gear reducer, the input end of the worm gear reducer is connected to the output end of the road sense motor, the road sense motor is used to receive the control signal of the VCU, the upper end of the lower part of the steering shaft is connected to the worm gear reducer, the lower end of the lower part of the steering shaft is connected to the first steering gear, the reversible motor is installed on the lower part of the steering shaft, the lower end of the lower part of the steering shaft and located between the reversible motor and the first steering gear is connected to a first electromagnetic clutch, the first electromagnetic clutch is directly controlled to open or close by the VCU, the input end of the steering tie rod is connected to a first steering rack, the first steering rack is meshed with the first steering gear, the output ends of both ends of the steering tie rod are connected to trapezoidal arms, each of the trapezoidal arms is connected to a steering knuckle at one end away from the steering tie rod, the steering knuckle is connected to a wheel, and the two wheels are installed with wheel hub motors for receiving the control signal of the VCU, and one of the wheels is installed with a front wheel angle sensor for obtaining the front wheel angle signal and transmitting it to the VCU;

[0007] The output end of the power-assisting motor is connected to a second electromagnetic clutch, the other end of the second electromagnetic clutch is connected to a second steering gear, the first electromagnetic clutch is directly controlled by the VCU to be opened or closed, the input end of the steering tie rod is connected to a second steering rack, the second steering rack is located on the right side of the first steering rack, and the second steering rack is meshed with the second steering gear.

[0008] Preferably, a reversible motor controller is installed on the reversible motor for receiving control signals from the VCU. The reversible motor controller switches between the electric mode and the power generation mode according to the control signal provided by the VCU. The reversible motor is coaxially arranged with the lower part of the steering shaft, and the reversible motor rotor is fixed on the lower part of the steering shaft. In the power generation mode, when the driver turns the steering wheel, the lower part of the steering shaft drives the reversible motor rotor to rotate, and the permanent magnet on the rotor cuts the stator winding to generate current. In the electric mode, the stator is energized through the control system to generate a rotating magnetic field, which drives the rotor to rotate, providing additional steering assistance for the steering wheel.

[0009] Preferably, the reversible motor controller is connected to a power converter and a power supply in sequence, and the power converter has the functions of converting direct current into alternating current and reverse rectification, adjusting the output voltage, and providing over-current and over-temperature protection.

[0010] Preferably, a steering angle torque sensor is installed on the upper part of the steering shaft and below the steering wheel for acquiring a steering angle signal and a torque signal and transmitting them to the VCU1.

[0011] A vehicle multi-mode switching steering system control method with energy recovery and redundant safety functions, based on the above-mentioned steering system, comprises the following steps:

[0012] S1, system self-test, the VCU reads the self-test signals of the reversible motor, the power motor, the road sensing motor and the wheel hub motor;

[0013] S2, switching the corresponding steering mode according to the self-test status of the electronic device;

[0014] The steering modes in step S2 include energy-saving and high-efficiency wire-controlled steering mode, high-efficiency wire-controlled steering mode 1, high-efficiency wire-controlled steering mode 2, energy-saving electronic differential steering mode, electronic differential steering mode 1, electronic differential steering mode 2, energy-saving wire-controlled steering mode, wire-controlled steering mode, electric power steering mode 1, electric power steering mode 2, electric power steering mode 3, electric power steering mode 4, high-efficiency electric power steering mode, differential power steering mode and pure mechanical steering mode.

[0015] Preferably, the steering mode switching method and steps in step S2 are as follows:

[0016] (1) If it is determined that there is no motor fault signal, the energy-saving and high-efficiency wire-controlled steering mode is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the reversible motor executes the power generation mode;

[0017] (2) If it is determined that the road sense motor fails, the high-efficiency wire-controlled steering mode 1 is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the reversible motor executes the electric mode to provide partial road sense;

[0018] (3) If it is determined that the power-assisting motor fails, the energy-saving electronic differential steering mode is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is disconnected, and the reversible motor executes the power generation mode;

[0019] (4) If it is determined that the power-assisting motor and the road-sensing motor are faulty, the electronic differential steering mode 1 is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is disconnected, and the reversible motor executes the electric mode to provide partial road sense;

[0020] (5) If the hub motor is judged to be faulty, the energy-saving wire-controlled steering mode is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the reversible motor executes the power generation mode;

[0021] (6) If it is determined that the wheel hub motor or the road sense motor fails, the steer-by-wire mode is executed. At this time, the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the reversible motor executes the electric mode to provide partial road sense;

[0022] (7) If it is determined that the wheel hub motor and the power steering motor are faulty, the electric power steering mode 1 is executed, at which time the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, and the reversible motor executes the electric mode to provide steering assistance;

[0023] (8) If it is determined that the wheel hub motor, the power motor, and the road sensing motor are faulty, the electric power steering mode 2 is executed. At this time, the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, and the reversible motor executes the electric mode to provide steering assistance;

[0024] (9) If it is determined that the reversible motor fails, the high-efficiency wire-controlled steering mode 2 is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the reversible motor stops working;

[0025] (10) If it is determined that the reversible motor and the road sensing motor are faulty, the high-efficiency electric power steering mode is executed, at which time the first electromagnetic clutch is closed, the second electromagnetic clutch is closed, and the reversible motor stops working;

[0026] (11) If it is determined that the reversible motor and the power-assisted motor are faulty, the electronic differential steering mode 2 is executed, at which time the first electromagnetic clutch is disconnected, the second electromagnetic clutch is disconnected, and the reversible motor stops working;

[0027] (12) If it is determined that the reversible motor, the power-assisted motor, and the road-sensing motor are faulty, the differential power-assisted steering mode is executed, at which time the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, and the reversible motor stops working;

[0028] (13) If it is determined that the reversible motor and the wheel hub motor are faulty, the electric power steering mode 3 is executed, at which time the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, and the reversible motor stops working;

[0029] (14) If it is determined that the reversible motor, the wheel hub motor, or the road sensing motor fails, the electric power steering mode 4 is executed, at which time the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, and the reversible motor stops working;

[0030] (15) If it is determined that electricity is reversible.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] The steering system of the present invention is designed with multiple redundant steering modes to provide higher stability and safety, and by introducing a reversible motor as a dual component of energy recovery and steering assistance, in a specific steering mode, the mechanical energy generated in the steering operation can be captured and converted through an integrated energy recovery module to convert it into reusable electrical energy, thereby improving the vehicle's energy utilization efficiency and environmental performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the steering system in the present invention.

[0034] Figure 2 It is a flow chart of the steering system control method in the present invention.

[0035] Figure 3 It is a flow chart of the reversible motor working mode control method in the present invention.

[0036] In the figure: 1 VCU, 2 power supply, 3 power converter, 4 road sensing motor, 5 reversible motor controller, 6 wheel, 7 front wheel angle sensor, 8 hub motor, 9 steering knuckle, 10, trapezoidal arm, 11 steering tie rod, 12 first steering gear, 13 first steering rack, 14 first electromagnetic clutch, 15 second steering rack, 16 second steering gear, 17 second electromagnetic clutch, 18 power motor, 19 reversible motor, 20 lower part of steering shaft, 21 worm gear reducer, 22 upper part of steering shaft, 23 torque sensor, 24 steering wheel. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following is a detailed description of the present invention.

[0038] Reference Figure 1-3 As shown, a vehicle multi-mode switching steering system with energy recovery and redundant safety functions includes a VCU1, a road sensing motor 4, a steering tie rod 11, a power motor 18, a reversible motor 19, a steering shaft lower part 20, a worm gear reducer 21 and a steering shaft upper part 22;

[0039] The upper end of the steering shaft upper part 22 is connected to a steering wheel 24, the lower end of the steering shaft upper part 22 is connected to the output end of the worm gear reducer 21, the input end of the worm gear reducer 21 is connected to the output end of the road sensing motor 4, the road sensing motor 4 is used to receive the control signal of the VCU1, the upper end of the steering shaft lower part 20 is connected to the worm gear reducer 21, the lower end of the steering shaft lower part 20 is connected to the first steering gear 12, the reversible motor 19 is installed on the steering shaft lower part 20, the lower end of the steering shaft lower part 20 and located between the reversible motor 19 and the first steering gear 12 is connected to the first electromagnetic clutch 14, the The first electromagnetic clutch 14 is directly controlled by VCU1 to be opened or closed. The input end of the steering tie rod 11 is connected to a first steering rack 13, which is meshed with a first steering gear 12. The output ends of both ends of the steering tie rod 11 are connected to trapezoidal arms 10. The end of each trapezoidal arm 10 away from the steering tie rod 11 is connected to a steering knuckle 9, and the steering knuckle 9 is connected to a wheel 6. Both wheels 6 are equipped with wheel hub motors 8 for receiving control signals from VCU1, and one of the wheels 6 is equipped with a front wheel angle sensor 7 for obtaining a front wheel angle signal and transmitting it to VCU1.

[0040] The output end of the power-assisting motor 18 is connected to a second electromagnetic clutch 17, the other end of the second electromagnetic clutch 17 is connected to a second steering gear 16, the first electromagnetic clutch 14 is directly controlled by VCU1 to be opened or closed, and the input end of the steering tie rod 11 is connected to a second steering rack 15, the second steering rack 15 is located on the right side of the first steering rack 13, and the second steering rack 15 is meshed with the second steering gear 16.

[0041] In this embodiment, a reversible motor controller 5 is installed on the reversible motor 19 for receiving control signals from VCU1. The reversible motor controller 5 switches between electric mode and power generation mode according to the control signals provided by VCU1. The reversible motor 19 is coaxially arranged with the lower part 20 of the steering shaft, and the rotor of the reversible motor 19 is fixed on the lower part 20 of the steering shaft. In the power generation mode, when the driver turns the steering wheel 24, the lower part 20 of the steering shaft drives the rotor of the reversible motor 19 to rotate, and the permanent magnets on the rotor cut the stator winding to generate current. In the electric mode, the stator is energized through the control system to generate a rotating magnetic field, which drives the rotor to rotate, providing additional steering assistance for the steering wheel 24.

[0042] In this embodiment, the reversible motor controller 5 is connected to a power converter 3 and a power supply 2 in sequence. The power converter 3 has the functions of converting direct current into alternating current and reverse rectification, adjusting the output voltage, and providing over-current and over-temperature protection to ensure efficient and safe operation of the system.

[0043] In this embodiment, a steering angle torque sensor 23 is installed on the upper portion 22 of the steering shaft and below the steering wheel 24 for acquiring a steering angle signal and a torque signal and transmitting them to the VCU1.

[0044] The present invention also provides a vehicle multi-mode switching steering system control method with energy recovery and redundant safety functions, based on the above-mentioned steering system, comprising the following steps:

[0045] S1, system self-test, the VCU1 reads the self-test signals of the reversible motor 19, the power motor 18, the road sensing motor 4 and the wheel hub motor 8;

[0046] S2, switching the corresponding steering mode according to the self-test status of the electronic device;

[0047] The steering modes in step S2 include energy-saving and high-efficiency wire-controlled steering mode, high-efficiency wire-controlled steering mode 1, high-efficiency wire-controlled steering mode 2, energy-saving electronic differential steering mode, electronic differential steering mode 1, electronic differential steering mode 2, energy-saving wire-controlled steering mode, wire-controlled steering mode, electric power steering mode 1, electric power steering mode 2, electric power steering mode 3, electric power steering mode 4, high-efficiency electric power steering mode, differential power steering mode and pure mechanical steering mode.

[0048] In this embodiment, the steering mode switching method and its steps in step S2 are as follows:

[0049] (1) If it is determined that there is no motor fault signal, the energy-saving and high-efficiency wire-controlled steering mode is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is closed, and the reversible motor 19 executes the power generation mode;

[0050] (2) If it is determined that the road sense motor 4 fails, the high-efficiency wire-controlled steering mode 1 is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is closed, and the reversible motor 19 executes the electric mode to provide partial road sense;

[0051] (3) If it is determined that the power-assisting motor 18 fails, the energy-saving electronic differential steering mode is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 executes the power generation mode;

[0052] (4) If it is determined that the power-assisting motor 18 and the road-sensing motor 4 are faulty, the electronic differential steering mode 1 is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 executes the electric mode to provide partial road sense;

[0053] (5) If it is determined that the wheel hub motor 8 fails, the energy-saving wire-controlled steering mode is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is closed, and the reversible motor 19 executes the power generation mode;

[0054] (6) If it is determined that the wheel hub motor 8 and the road sense motor 4 are faulty, the wire control steering mode is executed. At this time, the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is closed, and the reversible motor 19 executes the electric mode to provide partial road sense;

[0055] (7) If it is determined that the wheel hub motor 8 and the power-assisting motor 18 are faulty, the electric power steering mode 1 is executed, at which time the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 executes the electric mode to provide steering assistance;

[0056] (8) If it is determined that the wheel hub motor 8, the power motor 18, and the road sensing motor 4 are faulty, the electric power steering mode 2 is executed. At this time, the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 executes the electric mode to provide steering assistance;

[0057] (9) If it is determined that the reversible motor 19 fails, the high-efficiency wire-controlled steering mode is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is closed, and the reversible motor 19 stops working;

[0058] (10) If it is determined that the reversible motor 19 and the road sensing motor 4 are faulty, the high-efficiency electric power steering mode is executed, at which time the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is closed, and the reversible motor 19 stops working;

[0059] (11) If it is determined that the reversible motor 19 and the power-assisted motor 18 are faulty, the electronic differential steering mode 2 is executed, at which time the first electromagnetic clutch 14 is disconnected, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 stops working;

[0060] (12) If it is determined that the reversible motor 19, the power motor 18, and the road sensing motor 4 are faulty, the differential power steering mode is executed, at which time the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 stops working;

[0061] (13) If it is determined that the reversible motor 19 and the hub motor 8 are faulty, the electric power steering mode 3 is executed, at which time the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is opened, and the reversible motor 19 stops working;

[0062] (14) If it is determined that the reversible motor 19, the wheel hub motor 8, and the road sensing motor 4 are faulty, the electric power steering mode 4 is executed, at which time the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is opened, and the reversible motor 19 stops working;

[0063] (15) If it is determined that the reversible motor 19, the hub motor 8, and the power-assisted motor 18 are faulty, the pure mechanical steering mode is executed. At this time, the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is disconnected, and the reversible motor 19 stops working.

[0064] The mode switching rules of a vehicle multi-mode switching steering system with energy recovery and redundant safety functions are shown in Table 1, where motor state 0 represents no fault and motor state 1 represents fault.

[0065] Table 1: Mode switching rules for a vehicle multi-mode switching steering system with energy recovery and redundant safety functions

[0066]

[0067]

[0068] The following are detailed descriptions of various steering modes:

[0069] Energy-saving and efficient wire-controlled steering mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect and the second electromagnetic clutch 17 to close, and the reversible motor 19 to execute the power generation mode, converting the mechanical energy generated during the steering process into electrical energy, which is rectified by the power converter 3 and stored in the power supply 2. VCU1 controls the hub motor 8 and the power-assisted motor 18 to coordinately output the steering torque according to the data of the angle torque sensor 23, and the road sense motor 4 feeds back the road sense.

[0070] High-efficiency wire-controlled steering mode 1: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to close, and the reversible motor 19 to execute the electric mode to provide partial road feel. VCU1 controls the hub motor 8 and the power-assisted motor 18 to coordinately output the steering torque based on the data of the steering angle torque sensor 23.

[0071] Energy-saving electronic differential steering mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to disconnect, the reversible motor 19 executes the power generation mode, VCU1 controls the hub motor 8 to output the steering torque according to the data of the steering angle torque sensor 23, and the road sense motor 4 feeds back the road sense.

[0072] Electronic differential steering mode 1: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to disconnect, and the reversible motor 19 executes the electric mode to provide partial road feel. VCU1 controls the hub motor 8 to output steering torque according to the data of the steering angle torque sensor 23.

[0073] Energy-saving steer-by-wire mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to close, and the reversible motor 19 to execute the power generation mode. VCU1 controls the power-assist motor 18 to coordinately output the steering torque according to the data of the steering angle torque sensor 23, and the road sense motor 4 feeds back the road sense.

[0074] Steer-by-wire mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to close, and the reversible motor 19 to execute the electric mode to provide partial road feel. VCU1 controls the power-assisted motor 18 to coordinately output the steering torque based on the data of the steering angle torque sensor 23.

[0075] Electric power steering mode 1: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to open, the reversible motor 19 executes the electric mode to provide steering assistance, and the road feel motor 4 provides partial road feel.

[0076] Electric power steering mode 2: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to open, and the reversible motor 19 to execute the electric mode to provide steering assistance, and the road feel is directly fed back to the mechanical structure from the ground.

[0077] High-efficiency wire-controlled steering mode 2: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to close, and the reversible motor 19 to stop working. VCU1 controls the hub motor 8 and the power-assisted motor 18 to coordinately output the steering torque according to the data of the angle torque sensor 23, and the road sense motor 4 feeds back the road sense.

[0078] High-efficiency electric power steering mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to disconnect, and the reversible motor 19 to stop working. VCU1 controls the hub motor 8 and the power motor 18 to coordinately output the steering torque according to the data of the angle torque sensor 23, and the road feel is directly fed back to the mechanical structure by the ground.

[0079] Electronic differential steering mode 2: In this mode, VCU1 controls the first electromagnetic clutch 14 to disconnect, the second electromagnetic clutch 17 to disconnect, the reversible motor 19 to stop working, and VCU1 controls the hub motor 8 to output steering torque according to the data of the angle torque sensor 23, and the road sense motor 4 to feedback the road sense.

[0080] Differential power steering mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to disconnect, and the reversible motor 19 to stop working. VCU1 controls the hub motor 8 to output steering torque according to the data of the angle torque sensor 23, and the road feel is directly fed back to the mechanical structure by the ground.

[0081] Electric power steering mode three: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to disconnect, the reversible motor 19 to stop working, and VCU1 controls the power motor 18 to output steering torque according to the data of the angle torque sensor 23, and the road sense motor 4 provides partial road sense.

[0082] Electric power steering mode 4: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to disconnect, and the reversible motor 19 to stop working. VCU1 controls the power motor 18 to output steering torque according to the data of the angle torque sensor 23, and the road feel is directly fed back to the mechanical structure from the ground.

[0083] Pure mechanical steering mode: In this mode, VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to disconnect, the reversible motor 19 to stop working, the driver directly provides the steering torque, and the road feel is directly fed back to the mechanical structure from the ground.

[0084] The steps of the reversible motor 19 working mode control process are as follows:

[0085] S1, determining the steering mode to be operated at this time;

[0086] S2, judging whether the reversible motor 19 is required to perform the power generation mode at this time according to the steering mode to be operated;

[0087] S3. If the power generation mode needs to be executed, the VCU1 controls the reversible motor 19 to execute the power generation mode through the reversible motor 19 controller 5, and the power converter 3 converts the generated AC power into DC power, and at the same time adjusts the output DC voltage to match the charging voltage of the power supply 2 to avoid damaging the circuit;

[0088] S4, if the power generation mode is not required, continue to determine whether the reversible motor 19 is required to execute the electric mode;

[0089] S5. If the electric mode needs to be executed, the VCU 1 controls the reversible motor 19 to execute the power generation mode through the reversible motor 19 controller 5. The power converter 3 receives direct current from the power source 2 and converts the direct current into alternating current to drive the reversible motor 19. At the same time, the output voltage and frequency are adjusted to meet the operation requirements of the reversible motor 19 under different conditions.

[0090] S6. If the electric mode does not need to be executed, the VCU 1 controls the reversible motor 19 to stop working through the reversible motor 19 controller 5 .

[0091] In summary, the steering system has multiple redundant steering modes to provide higher stability and safety. In specific steering modes, it can also capture and convert the mechanical energy generated in the steering operation through the integrated energy recovery module, turning it into reusable electrical energy, thereby improving the vehicle's energy efficiency and environmental performance.

[0092] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A vehicle multi-mode switching steering system with energy recovery and redundant safety functions, characterized in that: It includes a VCU (1), a road sensing motor (4), a steering tie rod (11), a power assist motor (18), a reversible motor (19), a steering shaft lower part (20), a worm gear reducer (21) and a steering shaft upper part (22); The upper end of the steering shaft upper part (22) is connected to a steering wheel (24), the lower end of the steering shaft upper part (22) is connected to the output end of a worm gear reducer (21), the input end of the worm gear reducer (21) is connected to the output end of a road sensing motor (4), the road sensing motor (4) is used to receive a control signal from a VCU (1), the upper end of the steering shaft lower part (20) is connected to the worm gear reducer (21), the lower end of the steering shaft lower part (20) is connected to a first steering gear (12), the reversible motor (19) is mounted on the steering shaft lower part (20), the lower end of the steering shaft lower part (20) and located between the reversible motor (19) and the first steering gear (12) is connected to a first electromagnetic clutch (14), the first An electromagnetic clutch (14) is directly controlled by the VCU (1) to be opened or closed. A first steering rack (13) is connected to the input end of the steering tie rod (11), and the first steering rack (13) is meshed with a first steering gear (12). Trapezoidal arms (10) are connected to the output ends of both ends of the steering tie rod (11). A steering knuckle (9) is connected to each of the trapezoidal arms (10) at one end away from the steering tie rod (11). The steering knuckle (9) is connected to a wheel (6). Both wheels (6) are equipped with a wheel hub motor (8) for receiving a control signal from the VCU (1). A front wheel angle sensor (7) is installed on one of the wheels (6) for acquiring a front wheel angle signal and transmitting it to the VCU (1). The output end of the power-assisting motor (18) is connected to a second electromagnetic clutch (17), the other end of the second electromagnetic clutch (17) is connected to a second steering gear (16), the first electromagnetic clutch (14) is directly controlled by the VCU (1) to be opened or closed, the input end of the steering tie rod (11) is connected to a second steering rack (15), the second steering rack (15) is located on the right side of the first steering rack (13), and the second steering rack (15) is meshed with the second steering gear (16).

2. A vehicle multi-mode switching steering system with energy recovery and redundant safety functions according to claim 1, characterized in that: The reversible motor (19) is equipped with a reversible motor controller (5) for receiving a control signal from the VCU (1). The reversible motor controller (5) switches between an electric mode and a power generation mode according to the control signal provided by the VCU (1). The reversible motor (19) is coaxially arranged with the lower part (20) of the steering shaft, and the rotor of the reversible motor (19) is fixed on the lower part (20) of the steering shaft. In the power generation mode, when the driver turns the steering wheel (24), the lower part (20) of the steering shaft drives the rotor of the reversible motor (19) to rotate, and the permanent magnet on the rotor cuts the stator winding to generate current. In the electric mode, the stator is energized through the control system to generate a rotating magnetic field, and the rotating magnetic field drives the rotor to rotate, providing additional steering assistance for the steering wheel (24).

3. A vehicle multi-mode switching steering system with energy recovery and redundant safety functions according to claim 2, characterized in that: The reversible motor controller (5) is connected in sequence to a power converter (3) and a power source (2); the power converter (3) has the functions of converting direct current into alternating current and reverse rectification, adjusting output voltage, and providing over-current and over-temperature protection.

4. The vehicle multi-mode switching steering system with energy recovery and redundant safety functions according to claim 1, characterized in that: A rotation angle torque sensor (23) is installed on the upper part (22) of the steering shaft and below the steering wheel (24) for acquiring a rotation angle signal and a torque signal and transmitting them to the VCU (1).

5. A vehicle multi-mode switching steering system control method with energy recovery and redundant safety functions, based on the steering system according to any one of claims 1 to 4 above, characterized in that: The following steps are involved: S1, system self-test, the VCU (1) reads self-test signals of the reversible motor (19), the power-assist motor (18), the road sensor motor (4) and the wheel hub motor (8); S2, switching the corresponding steering mode according to the self-test status of the electronic device; The steering modes in step S2 include energy-saving and high-efficiency wire-controlled steering mode, high-efficiency wire-controlled steering mode 1, high-efficiency wire-controlled steering mode 2, energy-saving electronic differential steering mode, electronic differential steering mode 1, electronic differential steering mode 2, energy-saving wire-controlled steering mode, wire-controlled steering mode, electric power steering mode 1, electric power steering mode 2, electric power steering mode 3, electric power steering mode 4, high-efficiency electric power steering mode, differential power steering mode and pure mechanical steering mode.

6. A vehicle multi-mode switching steering system control method with energy recovery and redundant safety functions according to claim 5, characterized in that: The steering mode switching method and steps in step S2 are as follows: (1) If it is determined that there is no motor fault signal, the energy-saving and high-efficiency wire-controlled steering mode is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is closed, and the reversible motor (19) executes the power generation mode; (2) If it is determined that the road sense motor (4) fails, the high-efficiency wire-controlled steering mode 1 is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is closed, and the reversible motor (19) executes the electric mode to provide partial road sense; (3) If it is determined that the power-assisting motor (18) fails, the energy-saving electronic differential steering mode is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) executes the power generation mode; (4) If it is determined that the power-assisting motor (18) and the road-sensing motor (4) are faulty, the electronic differential steering mode 1 is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) executes the electric mode to provide partial road sense; (5) If it is determined that the wheel hub motor (8) fails, the energy-saving wire-controlled steering mode is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is closed, and the reversible motor (19) executes the power generation mode; (6) If it is determined that the wheel hub motor (8) and the road sense motor (4) are faulty, the wire control steering mode is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is closed, and the reversible motor (19) executes the electric mode to provide partial road sense; (7) If it is determined that the wheel hub motor (8) and the power-assisting motor (18) are faulty, the electric power-assisting steering mode 1 is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) executes the electric mode to provide steering assistance; (8) If it is determined that the wheel hub motor (8), the power motor (18), and the road sensing motor (4) are faulty, the electric power steering mode 2 is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) executes the electric mode to provide steering assistance; (9) If it is determined that the reversible motor (19) fails, the high-efficiency wire-controlled steering mode 2 is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is closed, and the reversible motor (19) stops working; (10) If it is determined that the reversible motor (19) and the road sensing motor (4) are faulty, the high-efficiency electric power steering mode is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is closed, and the reversible motor (19) stops working; (11) If it is determined that the reversible motor (19) and the power-assisted motor (18) are faulty, the electronic differential steering mode 2 is executed, at which time the first electromagnetic clutch (14) is disconnected, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) stops working; (12) If it is determined that the reversible motor (19), the power-assisted motor (18), and the road-sensing motor (4) are faulty, the differential power-assisted steering mode is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) stops working; (13) If it is determined that the reversible motor (19) and the wheel hub motor (8) are faulty, the electric power steering mode 3 is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) stops working; (14) If it is determined that the reversible motor (19), the wheel hub motor (8), and the road sensing motor (4) are faulty, the electric power steering mode 4 is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) stops working; (15) If it is determined that the reversible motor (19), the wheel hub motor (8), and the power-assisted motor (18) are faulty, a pure mechanical steering mode is executed, at which time the first electromagnetic clutch (14) is closed, the second electromagnetic clutch (17) is disconnected, and the reversible motor (19) stops working.

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