A vehicle multi-mode switching steering system and control method with energy recovery and redundant safety functions

Abstract

The present invention discloses a vehicle multi-mode switching steering system and control method with energy recovery and redundant safety functions, which relates to the technical field of automotive steering systems. It includes a VCU, a road feel motor, a steering tie rod, a power assist motor, a reversible motor, the lower part of the steering shaft, a worm and worm gear reducer, and the upper part of the steering shaft. 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 and worm gear reducer, and the input end of the worm and worm gear reducer is connected to the output end of the road feel motor. The steering system of the present invention designs multiple redundant steering modes to provide high stability and safety, and by introducing a reversible motor as a dual component for energy recovery and steering assistance, in a specific steering mode, it can capture and convert the mechanical energy generated during the steering operation through an integrated energy recovery module, turning it into reusable electrical energy, thereby improving the energy utilization efficiency and environmental protection performance of the vehicle.

Description

Technical Field

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

[0002] An automotive steering system is a series of devices used to change or maintain the driving or reversing direction of a vehicle. The function of an automotive steering system is to control the driving direction of the vehicle according to the driver's will. The automotive steering system is crucial for the driving safety of the vehicle. Therefore, the parts of the automotive steering system are all called safety parts.

[0003] Traditional steering systems mainly focus on steering accuracy and safety in design, and less consider the optimal utilization of energy. In current automotive steering system technologies, 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, while providing steering assistance, they also generate a certain amount of heat. The energy consumed by the steering mechanism is usually dissipated in the form of heat and cannot be recovered and reused. This energy loss not only means a waste of energy but also has a negative impact on the overall energy utilization efficiency of the vehicle. For this reason, a multi-mode switching steering system and control method for vehicles 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 multi-mode switching steering system and control method for vehicles with energy recovery and redundant safety functions.

[0005] A multi-mode switching steering system for vehicles with energy recovery and redundant safety functions includes a VCU, a road feel motor, a steering tie rod, a power assist motor, a reversible motor, a lower part of the steering shaft, a worm and worm gear reducer, and an upper part of the steering shaft;

[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 a worm and worm gear reducer. The input end of the worm and worm gear reducer is connected to the output end of a road feeling motor. The road feeling motor is used to receive a control signal from the VCU. The upper end of the lower part of the steering shaft is connected to the worm and worm gear reducer. The lower end of the lower part of the steering shaft is connected to a first steering gear. The reversible motor is installed on the lower part of the steering shaft. A first electromagnetic clutch is connected between the lower end of the lower part of the steering shaft and located between the reversible motor and the first steering gear. The first electromagnetic clutch is directly controlled by the VCU to be disengaged or engaged. A first steering rack is connected to the input end of the steering tie rod. The first steering rack meshes with the first steering gear. Both output ends of the steering tie rod are connected to a trapezoidal arm. One end of each trapezoidal arm away from the steering tie rod is connected to a steering knuckle. The steering knuckle is connected to a wheel. Hub motors are installed on both of the two wheels to receive control signals from the VCU. A front wheel angle sensor is installed on one of the wheels to obtain a front wheel angle signal and transmit it to the VCU;

[0007] The output end of the assist 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 disengaged or engaged. A second steering rack is connected to the input end of the steering tie rod. The second steering rack is located on the right side of the first steering rack. The second steering rack meshes with the second steering gear.

[0008] Preferably, a reversible motor controller is installed on the reversible motor to receive a control signal from the VCU. The reversible motor controller switches between an electric mode and a 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 rotor of the reversible motor 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 rotor of the reversible motor to rotate. The permanent magnets on the rotor cut the stator windings to generate current. In the electric mode, the stator is energized through a control system to generate a rotating magnetic field, and this rotating magnetic field drives the rotor to rotate to provide additional steering assistance for the steering wheel.

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

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

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

[0012] S1. System self-check, where the VCU reads the self-check signals of the reversible motor, assist motor, road feel motor, and hub motor;

[0013] S2. Perform corresponding steering mode switching according to the self-check situation of the electronic devices;

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

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

[0016] (1) If it is determined that there is no motor fault signal, then execute the energy-saving and efficient by-wire steering mode. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is engaged, and the reversible motor executes the power generation mode;

[0017] (2) If it is determined that the road feel motor has a fault, then execute the efficient by-wire steering mode 1. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is engaged, and the reversible motor executes the electric mode to provide partial road feel;

[0018] (3) If it is determined that the assist motor has a fault, then execute the energy-saving electronic differential steering mode. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is disengaged, and the reversible motor executes the power generation mode;

[0019] (4) If it is determined that the assist motor and the road feel motor have faults, then execute the electronic differential steering mode 1. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is disengaged, and the reversible motor executes the electric mode to provide partial road feel;

[0020] (5) If it is determined that the hub motor has a fault, then execute the energy-saving by-wire steering mode. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is engaged, and the reversible motor executes the power generation mode;

[0021] (6) If it is determined that the hub motor and the road feel motor have faults, then execute the by-wire steering mode. At this time, the first electromagnetic clutch is disengaged, the second electromagnetic clutch is engaged, and the reversible motor executes the electric mode to provide partial road feel;

[0022] (7) If it is determined that the in-wheel motor or the assist motor fails, the electric power steering mode one is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is opened. The reversible motor executes the electric mode to provide steering assistance;

[0023] (8) If it is determined that the in-wheel motor, the assist motor, or the road feel motor fails, the electric power steering mode two is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is opened. 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 steer-by-wire mode two is executed. At this time, the first electromagnetic clutch is opened and the second electromagnetic clutch is closed. The reversible motor stops working;

[0025] (10) If it is determined that the reversible motor and the road feel motor fail, the high-efficiency electric power steering mode is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is closed. The reversible motor stops working;

[0026] (11) If it is determined that the reversible motor and the assist motor fail, the electronic differential steering mode two is executed. At this time, the first electromagnetic clutch is opened and the second electromagnetic clutch is opened. The reversible motor stops working;

[0027] (12) If it is determined that the reversible motor, the assist motor, and the road feel motor fail, the differential assist steering mode is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is opened. The reversible motor stops working;

[0028] (13) If it is determined that the reversible motor and the in-wheel motor fail, the electric power steering mode three is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is opened. The reversible motor stops working;

[0029] (14) If it is determined that the reversible motor, the in-wheel motor, and the road feel motor fail, the electric power steering mode four is executed. At this time, the first electromagnetic clutch is closed and the second electromagnetic clutch is opened. The reversible motor stops working;

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

[0031] Compared with the existing technology, the advantages of the present invention are as follows:

[0032] The steering system of the present invention designs multiple redundant steering modes to provide high stability and safety. And by introducing a reversible motor as a dual component for energy recovery and steering assistance, in specific steering modes, it can capture and convert the mechanical energy generated during steering operations through an integrated energy recovery module, turning it into reusable electric energy, thereby improving the energy utilization efficiency and environmental protection performance of the vehicle. Description of the Drawings

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

[0034] Figure 2 This is a schematic flow diagram of the control method for the steering system in the present invention.

[0035] Figure 3 This is a schematic flow diagram of the control method for the operating mode of the reversible motor in the present invention.

[0036] In the figure: 1 VCU, 2 power supply, 3 power converter, 4 road feel motor, 5 reversible motor controller, 6 wheel, 7 front wheel steering angle sensor, 8 in-wheel 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 assist motor, 19 reversible motor, 20 lower part of the steering shaft, 21 worm and worm gear reducer, 22 upper part of the steering shaft, 23 torque sensor, 24 steering wheel. Specific embodiments

[0037] To make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the following closes the specific embodiments to further elaborate the present invention.

[0038] Referring to Figures 1-3 As shown, a vehicle multi-mode switching steering system with energy recovery and redundant safety functions includes a VCU 1, a road feel motor 4, a steering tie rod 11, an assist motor 18, a reversible motor 19, a lower part 20 of the steering shaft, a worm and worm gear reducer 21 and an upper part 22 of the steering shaft;

[0039] The upper end of the upper part 22 of the steering shaft is connected to a steering wheel 24. The lower end of the upper part 22 of the steering shaft is connected to the output end of a worm and worm gear reducer 21. The input end of the worm and worm gear reducer 21 is connected to the output end of a road feel motor 4. The road feel motor 4 is used to receive a control signal from a VCU 1. The upper end of the lower part 20 of the steering shaft is connected to the worm and worm gear reducer 21. The lower end of the lower part 20 of the steering shaft is connected to a first steering gear 12. A reversible motor 19 is installed on the lower part 20 of the steering shaft. A first electromagnetic clutch 14 is connected between the lower end of the lower part 20 of the steering shaft and between the reversible motor 19 and the first steering gear 12. The first electromagnetic clutch 14 is directly controlled by the VCU 1 to be disengaged or engaged. The input end of a steering tie rod 11 is connected to a first steering rack 13. The first steering rack 13 meshes with the first steering gear 12. Both output ends of the steering tie rod 11 are connected to a trapezoidal arm 10. One end of each trapezoidal arm 10 away from the steering tie rod 11 is connected to a steering knuckle 9. The steering knuckle 9 is connected to a wheel 6. Hub motors 8 are installed on both of the two wheels 6 to receive control signals from the VCU 1. A front wheel angle sensor 7 is installed on one of the two wheels 6 to obtain a front wheel angle signal and transmit it to the VCU 1;

[0040] The output end of an assist 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 disengaged or engaged. 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. The second steering rack 15 meshes with the second steering gear 16.

[0041] In this embodiment, a reversible motor controller 5 is installed on the reversible motor 19 to receive 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. The permanent magnets on the rotor cut the stator windings to generate current. In the electric mode, the stator is energized through a control system to generate a rotating magnetic field, and this rotating magnetic field drives the rotor to rotate to provide additional steering assistance for the steering wheel 24.

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

[0043] In this embodiment, a corner torque sensor 23 is installed above the steering shaft 22 and below the steering wheel 24 to obtain corner signals and torque signals and transmit them to the VCU1.

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

[0045] S1. System self-check, where the VCU1 reads the self-check signals of the reversible motor 19, the assist motor 18, the road feel motor 4, and the hub motor 8.

[0046] S2. Perform corresponding steering mode switching according to the self-check situation of the electronic devices.

[0047] The steering modes in step S2 include an energy-saving and efficient by-wire steering mode, a high-efficiency by-wire steering mode one, a high-efficiency by-wire steering mode two, an energy-saving electronic differential steering mode, an electronic differential steering mode one, an electronic differential steering mode two, an energy-saving by-wire steering mode, a by-wire steering mode, an electric power assist steering mode one, an electric power assist steering mode two, an electric power assist steering mode three, an electric power assist steering mode four, a high-efficiency electric power assist steering mode, a differential assist steering mode, and a 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 efficient by-wire steering mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 executes the power generation mode.

[0050] (2) If it is determined that the road feel motor 4 fails, the high-efficiency by-wire steering mode one is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 executes the electric mode to provide partial road feel.

[0051] (3) If it is determined that the assist motor 18 fails, the energy-saving electronic differential steering mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 executes the power generation mode.

[0052] (4) If it is determined that the assist motor 18 and the road feel motor 4 fail, the electronic differential steering mode one is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 executes the electric mode to provide partial road feel.

[0053] (5) If it is determined that the hub motor 8 fails, the energy-saving by-wire steering mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 executes the power generation mode.

[0054] (6) If it is determined that the in-wheel motor 8 and the road feel motor 4 have failed, the steer-by-wire mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 executes the electric mode to provide partial road feel;

[0055] (7) If it is determined that the in-wheel motor 8 and the assist motor 18 have failed, the first electric power steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 executes the electric mode to provide steering assistance;

[0056] (8) If it is determined that the in-wheel motor 8, the assist motor 18, and the road feel motor 4 have failed, the second electric power steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 executes the electric mode to provide steering assistance;

[0057] (9) If it is determined that the reversible motor 19 has failed, the high-efficiency steer-by-wire mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 stops working;

[0058] (10) If it is determined that the reversible motor 19 and the road feel motor 4 have failed, the high-efficiency electric power steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is engaged, and the reversible motor 19 stops working;

[0059] (11) If it is determined that the reversible motor 19 and the assist motor 18 have failed, the second electronic differential steering mode is executed. At this time, the first electromagnetic clutch 14 is disengaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 stops working;

[0060] (12) If it is determined that the reversible motor 19, the assist motor 18, and the road feel motor 4 have failed, the differential assist steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 stops working;

[0061] (13) If it is determined that the reversible motor 19 and the in-wheel motor 8 have failed, the third electric power steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 stops working;

[0062] (14) If it is determined that the reversible motor 19, the in-wheel motor 8, and the road feel motor 4 have failed, the fourth electric power steering mode is executed. At this time, the first electromagnetic clutch 14 is engaged, the second electromagnetic clutch 17 is disengaged, and the reversible motor 19 stops working;

[0063] (15) If it is determined that the reversible motor 19, the in-wheel motor 8, or the assist motor 18 has a fault, the pure mechanical steering mode is executed. At this time, the first electromagnetic clutch 14 is closed, the second electromagnetic clutch 17 is opened, 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 the motor state 0 represents no fault and the motor state 1 represents a fault.

[0065] Table 1: Mode Switching Rules of a Vehicle Multi-Mode Switching Steering System with Energy Recovery and Redundant Safety Functions

[0066]

[0067]

[0068] The following is a specific description of various steering modes:

[0069] Energy-saving and efficient by-wire steering mode: In this mode, the VCU1 controls the first electromagnetic clutch 14 to open and the second electromagnetic clutch 17 to close. The reversible motor 19 executes the power generation mode, converts the mechanical energy generated during steering into electrical energy, rectifies it through the power converter 3, and stores it in the power supply 2. The VCU1 controls the in-wheel motor 8 and the assist motor 18 to jointly output the steering torque according to the data of the angle torque sensor 23, and the road feel motor 4 feedbacks the road feel.

[0070] Efficient by-wire steering mode 1: In this mode, the VCU1 controls the first electromagnetic clutch 14 to open and the second electromagnetic clutch 17 to close. The reversible motor 19 executes the electric mode to provide partial road feel. The VCU1 controls the in-wheel motor 8 and the assist motor 18 to jointly output the steering torque according to the data of the angle torque sensor 23.

[0071] Energy-saving electronic differential steering mode: In this mode, the VCU1 controls the first electromagnetic clutch 14 to open and the second electromagnetic clutch 17 to open. The reversible motor 19 executes the power generation mode. The VCU1 controls the in-wheel motor 8 to output the steering torque according to the data of the angle torque sensor 23, and the road feel motor 4 feedbacks the road feel.

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

[0073] Energy-saving by-wire steering mode: In this mode, the VCU1 controls the first electromagnetic clutch 14 to disengage, the second electromagnetic clutch 17 to engage, the reversible motor 19 to execute the power generation mode, the VCU1 controls the assist motor 18 to output the steering torque in cooperation according to the data of the corner torque sensor 23, and the road feel motor 4 feeds back the road feel.

[0074] By-wire steering mode: In this mode, the VCU1 controls the first electromagnetic clutch 14 to disengage, the second electromagnetic clutch 17 to engage, the reversible motor 19 to execute the electric mode to provide partial road feel, and the VCU1 controls the assist motor 18 to output the steering torque in cooperation according to the data of the corner torque sensor 23.

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

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

[0077] High-efficiency by-wire steering mode 2: In this mode, the VCU1 controls the first electromagnetic clutch 14 to disengage, the second electromagnetic clutch 17 to engage, the reversible motor 19 to stop working, the VCU1 controls the hub motor 8 and the assist motor 18 to output the steering torque in cooperation according to the data of the corner torque sensor 23, and the road feel motor 4 feeds back the road feel.

[0078] High-efficiency electric power assisted steering mode: In this mode, the VCU1 controls the first electromagnetic clutch 14 to engage, the second electromagnetic clutch 17 to disengage, the reversible motor 19 to stop working, the VCU1 controls the hub motor 8 and the assist motor 18 to output the steering torque in cooperation according to the data of the corner torque sensor 23, and the road feel is directly fed back from the ground to the mechanical structure.

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

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

[0081] Electric Power Steering Mode 3: In this mode, the VCU1 controls the first electromagnetic clutch 14 to close, the second electromagnetic clutch 17 to open, the reversible motor 19 to stop working. The VCU1 controls the power steering motor 18 to output a steering torque according to the data of the steering angle torque sensor 23, and the road feel motor 4 provides partial road feel.

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

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

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

[0085] S1. Determine the steering mode to be run at this time;

[0086] S2. Judge whether the reversible motor 19 needs to execute the power generation mode according to the steering mode to be run;

[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. The power converter 3 converts the generated alternating current into direct current, 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 does not need to be executed, continue to judge whether the reversible motor 19 needs to execute the electric mode;

[0089] S5. If the electric 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. The power converter 3 receives direct current from the power supply 2 and converts the direct current into alternating current to drive the reversible motor 19, and at the same time adjusts the output voltage and frequency 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 VCU1 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 high stability and safety. Moreover, in specific steering modes, it can also capture and convert the mechanical energy generated during steering operations through an integrated energy recovery module, turning it into reusable electrical energy, thereby improving the vehicle's energy utilization efficiency and environmental performance.

[0092] As is known by technical common sense, the present invention can be implemented through other embodiments that do not depart from its spiritual essence or essential features. Therefore, the above-disclosed embodiments are illustrative in all aspects and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by 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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