Steering motor control device and method, steering execution system and vehicle

Abstract

The invention relates to a control device and method of a steering motor, a steering execution system and a vehicle. The device comprises a control circuit, a detection circuit, a driving circuit, a power circuit, a first power supply circuit and a second power supply circuit. The control circuit, the detection circuit and the driving circuit are used for being electrically connected with a starting battery through the first power supply circuit, the power circuit is used for being electrically connected with a power battery through the second power supply circuit, the control circuit is electrically connected with the detection circuit and is electrically connected with the power circuit through the driving circuit, and the power circuit is used for being electrically connected with a steering motor; the control circuit is used for controlling the steering motor to rotate through the drive circuit and the power circuit according to mechanical state information fed back by the detection circuit. The problem of insufficient power capacity caused by complete starting of a battery framework can be solved; in addition, power surplus can be guaranteed, and bus current and phase current are greatly reduced, so that heat productivity is reduced, and severe thermal runaway risks are not prone to being brought to related wire harnesses, connectors and components.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a control device, method, steering execution system and vehicle for a steering motor. Background Art

[0002] Rear-wheel steering technology calculates the rotation angle of the rear-wheel steering execution system based on the current vehicle body state, including gear position, vehicle speed, steering wheel torque signal, etc., so as to achieve the purpose of rear-wheel steering. There is a physical decoupling between the steering wheel and the rear-wheel steering execution system. Currently, the rear-wheel steering execution system is powered by a low-voltage starting battery, and its instantaneous demand power is the highest among all low-voltage electrical appliances in current new energy vehicles.

[0003] With the increase in vehicle weight and the increase in low-voltage electrical appliances on the vehicle, the power required for steering and the total power required for low-voltage electrical appliances are also increasing, and the total demand power will exceed the power upper limit that the low-voltage starting battery can provide. When there is a sudden steering demand, problems such as insufficient steering force, slow response, or undervoltage faults of other low-voltage electrical appliances are likely to occur. Moreover, due to the large current caused by high power and low voltage, it is easy to bring serious thermal runaway risks to the wiring harness, connectors, and components in the rear-wheel steering execution system. Summary of the Invention

[0004] Embodiments of the present application provide a control device, method, steering execution system and vehicle for a steering motor. The detection circuit, control circuit, and drive circuit involved are still powered by connecting to the starting battery through the first power supply circuit, but the power circuit with the largest power ratio is powered by connecting to the power battery through the second power supply circuit. This can solve the problem of insufficient power capacity caused by a completely starting battery architecture, and can also greatly reduce the bus current and phase current while ensuring power surplus, thereby reducing heat generation, reducing wire diameter and copper usage, to at least partially solve the above technical problems.

[0005] To achieve the above object, according to the first aspect of the present application, a control device for a steering motor is provided, including a control circuit, a detection circuit, a drive circuit, a power circuit, a first power supply circuit, and a second power supply circuit; The control circuit, the detection circuit, and the drive circuit are respectively electrically connected to the starting battery through the first power supply circuit. The power circuit is electrically connected to the power battery through the second power supply circuit. The control circuit is electrically connected to the detection circuit and is electrically connected to the power circuit through the drive circuit. The power circuit is used to be electrically connected to the steering motor; The control circuit is configured to control the steering motor to rotate through the drive circuit and the power circuit according to the mechanical state information fed back by the detection circuit.

[0006] Optionally, the drive circuit includes a first redundant drive unit and a second redundant drive unit, and the power circuit includes a first redundant power unit and a second redundant power unit; The control circuit is electrically connected to the steering motor through the first redundant drive unit and the first redundant power unit and is also electrically connected to the steering motor through the second redundant drive unit and the second redundant power unit.

[0007] Optionally, the control circuit is also electrically connected to the power circuit for obtaining current state information of the power circuit; Specifically, the control circuit is configured to control the power circuit to output driving power through the drive circuit according to the mechanical state information and the current state information so as to drive the steering motor.

[0008] Optionally, the detection circuit includes a first detection module for detecting first mechanical state information of the steering motor and a second detection module for detecting second mechanical state information of a mechanical transmission device mechanically connected to the motor.

[0009] Optionally, the second detection module includes a first redundant detection unit and a second redundant detection unit respectively for detecting first mechanical state information of the steering motor.

[0010] Optionally, the control device of the steering motor further includes an isolation circuit, and the isolation circuit includes a digital isolator; The first detection module is electrically connected to the control circuit through the digital isolator.

[0011] Optionally, the first power supply circuit includes a first power supply module and a second power supply module, and the isolation circuit further includes a power supply isolation module; The first power supply module is electrically connected to the first detection module and is used for being electrically connected to a starting battery; The second power supply module is electrically connected to the control circuit, the drive circuit and the second detection module respectively and is used for being electrically connected to the starting battery through the power supply isolation module.

[0012] Optionally, the first power supply circuit further includes an isolation sampling module; The control circuit is also electrically connected to the first power supply module through the isolation sampling module for obtaining voltage state information of the first power supply module fed back by the isolation sampling module.

[0013] Optionally, the isolation circuit further includes an isolation transceiver; The control circuit is configured to be electrically connected to a domain controller through the isolation transceiver and obtain a domain control displacement instruction sent by the domain controller, and is also configured to control the steering motor to rotate through the drive circuit and the power circuit according to the mechanical state information and the domain control displacement instruction.

[0014] Optionally, the second power supply circuit includes a power distribution module and a main shutdown module; The power circuit is electrically connected to the power distribution module through the main shutdown module, and the power distribution module is used to be electrically connected to the power battery. The control circuit is also electrically connected to the main shutdown module, and is used to control the power-on or power-off of the power circuit through the main shutdown module.

[0015] According to the second aspect of the present application, a control method for a steering motor is provided, which is applied to the control device of the steering motor in the above-mentioned embodiment; the control method for the steering motor includes the following steps executed by the control circuit: Perform self-check after power-on. If the self-check is successful, wait to obtain the power-on instruction of the power battery sent by the domain controller; if the self-check fails, enter the fault process. If the power-on instruction of the power battery is obtained, control the main shutdown module to conduct, so that the power circuit is powered on, and according to the mechanical state information, perform centering control on the steering motor through the drive circuit and the power circuit. If the centering of the steering motor is successful, wait to obtain the domain control displacement instruction sent by the domain controller; if the centering fails, enter the fault process. When the domain control displacement instruction is successfully obtained, control the steering motor according to the domain control displacement instruction and the mechanical state information through the drive circuit and the power circuit; if the acquisition of the domain control displacement instruction fails, enter the fault process. If the motor control is successful, wait to obtain the power-off instruction of the power battery sent by the domain controller; if the motor control fails, enter the fault process. When entering the fault process and / or obtaining the power-off instruction of the power battery, control the main shutdown module to disconnect, so that the power circuit is powered off.

[0016] According to the third aspect of the present application, a control method for a steering motor is provided, which is applied to the control device of the steering motor in the above-mentioned embodiment. The drive circuit includes a first redundant drive unit and a second redundant drive unit, and the power circuit includes a first redundant power unit and a second redundant power unit; the control method for the steering motor includes the following steps executed by the control circuit: When at least one of the first redundant drive unit, the first redundant power unit, and the first redundant detection unit fails, and the second redundant drive unit, the second redundant power unit, and the second redundant detection unit do not fail, control the first redundant power unit to turn off through the first redundant drive unit and perform centering control on the steering motor through the second redundant drive unit and the second redundant power unit. When at least one of the second redundant drive unit, the second redundant power unit, and the second redundant detection unit fails, and the first redundant drive unit, the first redundant power unit, and the first redundant detection unit do not fail, the second redundant power unit is controlled to turn off by the second redundant drive unit, and the steering motor is centered by the first redundant drive unit and the first redundant power unit.

[0017] According to a fourth aspect of the present application, a steering execution system is provided, including a steering motor, a mechanical transmission device mechanically connected to the steering motor, and a control device for the steering motor in any of the above embodiments; The mechanical transmission device is used for mechanical and electrical connection with the wheels.

[0018] According to a fifth aspect of the present application, a vehicle is provided, including the control device for the steering motor in any of the above embodiments, or including the steering execution system in any of the above embodiments.

[0019] The control device for the steering motor in the present application still accesses the detection circuit, the control circuit, and the drive circuit involved through the first power supply circuit to be powered by the starting battery, but the power circuit with the largest power ratio is accessed through the second power supply circuit to be powered by the power battery. First, it can solve the problem of insufficient power capacity caused by a completely starting battery architecture, and it is not easy to have problems such as insufficient steering force, slow response, or undervoltage faults of other electrical appliances. Second, it can also ensure power surplus while greatly reducing the bus current and phase current, thereby reducing the heat generation, further reducing the wire diameter and the use of copper, and not easily bringing a serious thermal runaway risk to related wire harnesses, connectors, and components. In addition, when the steering motor uses a permanent magnet synchronous motor, since the inflection point speed of the permanent magnet synchronous motor increases with the increase of the supply voltage, correspondingly, at the same motor power, the output torque can be proportionally reduced. Therefore, it can further reduce the motor size and obtain a higher motor power density.

[0020] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. Description of the Drawings In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals in the following description represent the same parts.

[0022] Figure 1 It is a schematic structural diagram of a control device for a steering motor provided in an exemplary embodiment of the present application; Figure 2 It is a schematic structural diagram of redundant setting for the drive and power parts provided in an exemplary embodiment of the present application; Figure 3 It is a schematic structural diagram of detection setting for a steering motor and a mechanical transmission device provided in an exemplary embodiment of the present application; Figure 4 It is a schematic structural diagram of redundant setting for the detection part of a steering motor provided in an exemplary embodiment of the present application; Figure 5 It is a schematic structural diagram of a steering execution system including the specific structure of a control device for a steering motor provided in an exemplary embodiment of the present application; Figure 6 It is a schematic structural diagram of an isolated DC / DC provided in an exemplary embodiment of the present application; Figure 7 It is a schematic structural diagram of a digital isolator provided in an exemplary embodiment of the present application; Figure 8 It is a schematic structural diagram of an isolated CAN transceiver provided in an exemplary embodiment of the present application; Figure 9 It is a schematic structural diagram of an isolated ADC provided in an exemplary embodiment of the present application; Figure 10 It is a schematic flow diagram of a control method for a steering motor provided in an exemplary embodiment of the present application. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0024] According to the first aspect of the present application, as Figure 1 shown, a control device for a steering motor is provided, including a control circuit, a detection circuit, a drive circuit, a power circuit, a first power supply circuit, and a second power supply circuit.

[0025] The control circuit, the detection circuit, and the drive circuit are respectively used to be electrically connected to a starting battery through the first power supply circuit.

[0026] Among them, the first power supply circuit is mainly used to process the first initial direct current output by the starting battery, so as to output the first target direct current that meets the power supply requirements of the control circuit, the detection circuit and the drive circuit.

[0027] The power circuit is used to be electrically connected to the power battery through the second power supply circuit.

[0028] Among them, similarly, the second power supply circuit is mainly used to process the second initial direct current output by the power battery, so as to output the second target direct current that meets the power supply requirements of the power circuit.

[0029] The control circuit is electrically connected to the detection circuit and is electrically connected to the power circuit through the drive circuit. The power circuit is used to be electrically connected to the steering motor.

[0030] Among them, the detection circuit is mainly used to detect the mechanical state of the steering motor and the like, such as angle information, etc., so as to be used as feedback information when the control circuit performs control.

[0031] Among them, the drive circuit mainly achieves the purpose of driving and amplifying, so that the voltage output by the control circuit can control the power circuit.

[0032] Among them, the power circuit is mainly composed of several power devices, so as to perform on-off control on the connected second target direct current according to the drive voltage output by the drive circuit, so as to output the corresponding drive power to the steering motor, and finally realize the rotation control of the steering motor.

[0033] The control circuit is used to control the steering motor to rotate according to the mechanical state information fed back by the detection circuit through the drive circuit and the power circuit.

[0034] Among them, taking the angle information of the steering motor as an example, the control circuit determines the current state of the steering motor according to the angle information as feedback, so as to perform rotation control on the steering motor according to the target angle. This process is realized through the drive circuit and the power circuit.

[0035] The control device of the steering motor in this application still connects the detection circuit, control circuit, and drive circuit involved through the first power supply circuit to the starting battery for power supply, but connects the power circuit with the largest power ratio through the second power supply circuit to the power battery for power supply. First, it can solve the problem of insufficient power capacity caused by a completely starting battery architecture, and it is not easy to have problems such as insufficient steering force, slow response, or undervoltage faults of other electrical appliances. Second, it can also ensure power surplus while greatly reducing the bus current and phase current, thereby reducing the heat generation, further reducing the wire diameter and copper usage, and it is not easy to bring serious thermal runaway risks to related wire harnesses, connectors, and components. In addition, when the steering motor uses a permanent magnet synchronous motor, since the inflection point speed of the permanent magnet synchronous motor increases with the increase of the supply voltage, correspondingly, at the same motor power, the output torque can be proportionally reduced. Therefore, it can further reduce the motor size and obtain a higher motor power density.

[0036] As Figure 2 shown, optionally, the drive circuit includes a first redundant drive unit and a second redundant drive unit, and the power circuit includes a first redundant power unit and a second redundant power unit.

[0037] The control circuit is electrically connected to the steering motor through the first redundant drive unit and the first redundant power unit and through the second redundant drive unit and the second redundant power unit.

[0038] It should be added that the first redundant drive unit and the second redundant drive unit are also respectively used to be electrically connected to the starting battery through the first power supply circuit to access the first target direct current output by the first power supply circuit; similarly, the first redundant power unit and the second redundant power unit are also respectively used to be electrically connected to the power battery through the second power supply circuit to access the second target direct current output by the second power supply circuit.

[0039] Among them, the functions of the first redundant drive unit and the second redundant drive unit are the same, serving the purpose of redundancy in the drive function; similarly, the functions of the first redundant power unit and the second redundant drive unit are also the same, serving the purpose of redundancy in the power function.

[0040] Among them, when the first redundant drive unit, the first redundant power unit, the second redundant drive unit, and the second redundant power unit can all be used normally, the drive power can be output to the steering motor through the first redundant drive unit, the first redundant power unit, the second redundant drive unit, and the second redundant power unit at the same time.

[0041] Among them, when the first redundant drive unit and / or the first redundant power unit fails and cannot be used continuously, the second redundant drive unit and the second redundant power unit can still be used to output drive power to the steering motor; similarly, when the second redundant drive unit and / or the second redundant power unit fails and cannot be used continuously, the first redundant drive unit and the first redundant power unit can still be used to output drive power to the steering motor.

[0042] Compared with the situation where drive power is output simultaneously in two paths, when only one path of drive power is output, the power obtained by the steering motor is only half, and the corresponding steering force provided is also only half. It can be understood that although the steering force provided by the steering motor under the redundant function may be only half, through pre-power configuration, the steering motor can still achieve at least partial steering operations when providing half of the steering force.

[0043] Such as Figure 3 shown, optionally, the detection circuit includes a first detection module for detecting the first mechanical state information of the steering motor and a second detection module for detecting the second mechanical state information of the mechanical transmission device mechanically connected to the motor.

[0044] Among them, the steering motor is mechanically connected to the wheel through the mechanical transmission device, so that the rotation operation of the steering motor can be converted into the steering operation of the wheel. Since there may be a certain offset during the transmission of the mechanical transmission device, the control circuit controls the rotation of the steering motor according to the target requirements, but the wheel actually steers to the target position.

[0045] Therefore, in this embodiment, in addition to the first detection module for detecting the first mechanical state information of the steering motor, there is also a second detection module for detecting the second mechanical state information of the mechanical transmission device. So that when the control circuit controls the rotation of the steering motor, it can simultaneously refer to the first mechanical state information of the steering motor and the second mechanical state information of the mechanical transmission device to improve the accuracy of control.

[0046] Such as Figure 4 shown, optionally, the second detection module includes a first redundant detection unit and a second redundant detection unit respectively used for detecting the first mechanical state information of the steering motor.

[0047] Among them, as mentioned in the above embodiment, the first redundant drive unit and the second redundant drive unit can be respectively set to achieve the redundant purpose of the drive function, and the first redundant power unit and the second redundant power unit can be respectively set to achieve the redundant purpose of the power function. Similarly, in this embodiment, setting the first redundant detection unit and the second redundant detection unit can achieve the redundant purpose of the detection function of the first mechanical state information.

[0048] Among them, when the first redundant drive unit, the first redundant power unit, the first redundant detection unit, the second redundant drive unit, the second redundant power unit, and the second redundant detection unit can all be used normally, the mechanical state of the steering motor can be detected simultaneously through the first redundant detection unit and the second redundant detection unit, and the drive power can be output to the steering motor through the first redundant drive unit, the first redundant power unit, the second redundant drive unit, and the second redundant power unit according to the detected first mechanical state information.

[0049] Among them, when the first redundant drive unit, the first redundant power unit, and / or the first redundant detection unit fails and cannot be used continuously, the second redundant detection unit can still be used to detect the mechanical state of the steering motor, and the drive power can be output to the steering motor through the second redundant drive unit and the second redundant power unit according to the detected first mechanical state information; similarly, when the second redundant drive unit, the second redundant power unit, and / or the second redundant detection unit fails and cannot be used continuously, the first redundant detection unit can still be used to detect the mechanical state of the steering motor, and the drive power can be output to the steering motor through the first redundant drive unit and the first redundant power unit according to the detected first mechanical state information.

[0050] Optionally, the control device of the steering motor further includes an isolation circuit, and the isolation circuit includes a digital isolator; The first detection module is electrically connected to the control circuit through the digital isolator.

[0051] Among them, as Figure 5 shown, the first detection module includes an angle / displacement sensor, the control circuit includes an MCU, and the angle / displacement sensor is electrically connected to the MCU through the digital isolator.

[0052] Optionally, the first power supply circuit includes a first power supply module and a second power supply module, and the isolation circuit further includes a power supply isolation module.

[0053] The first power supply module is electrically connected to the first detection module and is used to be electrically connected to the starting battery. The second power supply module is electrically connected to the control circuit, the drive circuit, and the second detection module respectively and is used to be electrically connected to the starting battery through the power supply isolation module.

[0054] Among them, as Figure 5 shown, the first power supply module includes a low-voltage area power supply module, the second power supply module includes a high-voltage area power supply module, and the power supply isolation module includes an isolated DC / DC. The starting battery can provide 12V direct current to the low-voltage area power supply module, and the low-voltage area power supply module is used to process the 12V direct current to supply power to the angle / displacement sensor and the low-voltage area part of the digital isolator respectively.

[0055] In addition, the first redundancy detection unit and the second redundancy detection unit respectively include motor angle sensors, the first redundancy drive unit and the second redundancy drive unit respectively include drive units driven by the PWM method, and the first redundancy power unit and the second redundancy power unit respectively include three-phase inverters. The starting battery can also supply 12V DC power to the isolated DC / DC, and the isolated DC / DC is used to isolate the 12V DC power to supply power to the high-voltage area power supply module, so that the high-voltage area power supply module supplies power to the MCU, two drive units driven by the PWM method, two motor angle sensors, and the high-voltage area part of the digital isolator respectively.

[0056] It should be noted that Figure 5 the power supply lines of the low-voltage area power supply module and the high-voltage area power supply module are not shown.

[0057] Optionally, the first power supply circuit further includes an isolation sampling module.

[0058] The control circuit is also electrically connected to the first power supply module through the isolation sampling module, and is used to obtain the voltage status information of the first power supply module fed back by the isolation sampling module.

[0059] Among them, as Figure 5 shown, the isolation sampling module includes an isolation ADC, and the low-voltage area power supply module is electrically connected to the MCU through the isolation ADC.

[0060] It should be noted that the low-voltage area power supply module is also used to supply power to the low-voltage area part of the isolation ADC, and the high-voltage area power supply module is also used to supply power to the high-voltage area part of the isolation ADC.

[0061] Optionally, the isolation circuit further includes an isolation transceiver.

[0062] The control circuit is used to be electrically connected to the domain controller through the isolation transceiver and obtain the domain control displacement instruction sent by the domain controller, and is used to control the steering motor to rotate through the drive circuit and the power circuit according to the mechanical state information and the domain control displacement instruction.

[0063] Among them, the isolation transceiver includes an isolation CAN transceiver, and the MCU is electrically connected to the domain controller through the isolation CAN transceiver.

[0064] It should be noted that the low-voltage area power supply module is also used to supply power to the low-voltage area part of the isolation CAN transceiver, and the high-voltage area power supply module is also used to supply power to the high-voltage area part of the isolation CAN transceiver.

[0065] Optionally, the second power supply circuit includes a power distribution module and a total shutdown module.

[0066] Among them, as Figure 5As shown in the figure, the power distribution module includes a high-voltage power distribution box. The two three-phase inverters included in the power circuit are respectively electrically connected to the high-voltage power distribution box through the total shutdown module, and the high-voltage power distribution box is used to be electrically connected to the power battery. The MCU is also electrically connected to the total shutdown module and is used to control the power-on or power-off of the two three-phase inverters through the total shutdown module.

[0067] Optionally, the control circuit is also electrically connected to the power circuit and is used to obtain the current status information of the power circuit.

[0068] The control circuit is specifically used to control the power circuit to output driving power through the drive circuit according to the mechanical status information and the current status information to drive the steering motor.

[0069] Among them, as Figure 5 shown, the MCU is respectively electrically connected to the two three-phase inverters to obtain the corresponding current status information, so that when the MCU controls the steering motor, it can refer to the current situation of the three-phase inverters in real time to determine the status of the three-phase inverters, thereby improving the reliability of control.

[0070] To make the above embodiments clearer, the above embodiments are now described in combination. As Figure 5 shown, In terms of power supply, the entire steering execution system uses dual power supplies. Only the power part is supplied by the power battery, and the rest is supplied by a 12V starting battery.

[0071] In terms of information transmission, the domain controller collects the steering wheel angle torque information and the vehicle's own status information, including the current vehicle speed, vehicle weight, lateral acceleration, and formulates a calibration based on the corresponding relationship between the vehicle speed, vehicle weight, steering wheel angle torque and turning radius obtained through a large amount of experimental data, calculates the corresponding lead screw displacement of the current required wheel angle, and the MCU controls the rotation of the steering motor according to the domain control displacement instruction, thereby driving the mechanical transmission device to push the wheels to turn.

[0072] In terms of high and low voltage division, it is divided into three regions: a low voltage region, an isolation region, and a high voltage region according to the voltage level. The low voltage power supply module in the low voltage region converts the input 12V DC power into multiple power supply sources, which supply power to the displacement / angle sensor, isolated DC / DC, isolated ADC, isolated CAN transceiver, and digital isolator respectively. At the same time, the housing of the mechanical transmission device is rigidly connected to the subframe, so it is also in the low voltage region. The angle / displacement sensor can be a linear displacement sensor or an angle sensor. The isolation region electrically isolates the high voltage region and the low voltage region to ensure the safety of low voltage electrical appliances on the vehicle and personal safety, including the insulation isolation between the isolated DC / DC, digital isolator, isolated ADC, isolated CAN transceiver, the stator and rotor in the motor, and the insulation isolation between the system and the motor housing. The high voltage region includes a main shutdown module that can actively cut off the high voltage current path, a high voltage power supply module that supplies power to each module in the high voltage region, an MCU module, two drive units for redundancy purposes, two three-phase inverters for redundancy purposes, and a steering motor. Placing the MCU in the high voltage region can reduce the number of digital isolators. For example, in Figure 5 only one digital isolator is required to achieve the electrical connection between the MCU and the angle / displacement sensor.

[0073] As Figure 6 shown, optionally, the isolated DC / DC includes a transformer T1 and a MOS transistor Q1. The transformer T1 and the MOS transistor Q1 form an isolated flyback switching power supply to achieve voltage regulation and energy transfer through the conduction duty cycle of the MOS transistor Q1. In addition, the isolated DC / DC also includes a resistor R1 and a diode D1 for freewheeling, a capacitor C1 for input filtering, capacitors C2 and C3 for output filtering, and a diode D2 for output rectification.

[0074] As Figure 7 shown, optionally, the digital isolator includes a digital isolation chip U1. The digital isolation chip U1 is used to isolate the detection signal SENT output by the angle / displacement sensor to output the isolated detection signal SENT_HV to the MCU.

[0075] As Figure 8 shown, optionally, the isolated CAN transceiver includes an isolated CAN chip U2. The isolated CAN chip U2 is used to isolate the CAN communication signals CAN1_H and CAN1_L corresponding to the domain controller to achieve the CAN communication signals TXD_CAN1 and RXD_CAN1 corresponding to the isolated MCU.

[0076] As Figure 9As shown, optionally, the isolated ADC includes an isolated ADC chip U3, which is used to isolate the voltage detection signals IGN_P and IGN_N of the low-voltage area power supply module, so as to output the isolated voltage detection signal VIGN to the MCU.

[0077] According to the second aspect of the present application, a control method for a steering motor is provided, which is applied to the control device of the steering motor in the above-mentioned embodiment; as Figure 10 shown, the control method of the steering motor includes the following steps executed by a control circuit (such as an MCU): Perform self-check after power-on.

[0078] Among them, when the vehicle starts, the vehicle power management system will turn on the relay of the corresponding starting battery, and the starting battery will then supply power to the control circuit in this embodiment, so that each module in the low-voltage area such as the control circuit is powered on. After power-on, the control circuit can perform communication function activation operations to facilitate subsequent interaction with other devices, and then enter initialization to perform self-check.

[0079] Among them, the control circuit can also detect the power supply voltage output to each module in the low-voltage area to determine whether the power supply is normal.

[0080] If the self-check is successful, wait to obtain the power-on instruction of the power battery sent by the domain controller; if the self-check fails, enter the fault process.

[0081] If the power-on instruction of the power battery is obtained, control the main cut-off module to conduct, so that the power circuit is powered on, thereby realizing high-voltage power-on, and perform centering control on the steering motor according to the mechanical state information through the drive circuit and the power circuit.

[0082] If the centering of the steering motor is successful, wait to obtain the domain control displacement instruction sent by the domain controller; if the centering fails, enter the fault process.

[0083] Among them, the centering of the steering motor refers to the operation of resetting and clearing the steering motor when the wheel returns to the centered position; after the centering of the steering motor is successful, a handshake test can be performed with the domain controller to achieve communication verification; if the communication verification is successful, wait to obtain the domain control displacement instruction sent by the domain controller; if the communication verification fails, enter the fault process.

[0084] When the domain control displacement instruction is successfully obtained, control the steering motor according to the domain control displacement instruction and the mechanical state information through the drive circuit and the power circuit; if the acquisition of the domain control displacement instruction fails, enter the fault process.

[0085] Among them, the domain control displacement instruction includes the rotation operations required by the steering motor, such as the corresponding rotation direction and rotation angle, etc., so as to control the steering motor to rotate according to the domain control displacement instruction; when the communication between the control circuit and the domain controller is abnormal, it will cause the corresponding domain control displacement instruction to not be successfully obtained.

[0086] If the motor control is successful, wait to obtain the power battery power-down instruction sent by the domain controller; if the motor control fails, enter the fault process.

[0087] Among them, when the steering motor completes the corresponding rotation operation, it indicates that the motor control is successful, otherwise it indicates that the motor control fails. For specific control details, refer to the above embodiments. This control process involves a control circuit, a drive circuit, a power circuit, a first detection module, a mechanical transmission device, and a second detection module. A fault in any link can be understood as Figure 10 a violation of the diagnostic protocol in Figure 5 to enter the fault process; referring to

[0088] Among them, the steering motor fault can be damage to the motor coil, and the MCU fault can specifically be at least one of chip damage and program operation error.

[0089] Among them, the voltage fault refers to whether the power supply voltage of the three-phase inverter is faulty. The overvoltage fault can specifically be that the power supply voltage exceeds 1000V, and the undervoltage fault can specifically be that the power supply voltage is lower than 375V.

[0090] Among them, the temperature-related faults mainly detect the temperature of the three-phase inverter through the corresponding temperature sensors, and then judge whether it is low temperature or over-temperature according to the target temperature. The over-temperature fault can specifically be that the highest temperature is higher than 125°C, and the low-temperature fault can specifically be that the lowest temperature is lower than -40°C.

[0091] Among them, the drive fault can specifically be at least one of chip damage and power supply circuit fault.

[0092] Among them, before controlling the steering motor according to the domain control displacement instruction, it is also necessary to perform redundant verification on the motor angle sensor and the displacement / angle sensor. When the displacement or angle converted by the motor rotation angle sensor and the displacement or angle provided by the angle / displacement sensor are within the error range, it is determined that the current data is reliable. If the two values are outside the error range, a fault needs to be reported to prompt the driver.

[0093] When entering the fault process and / or obtaining the power-off command of the power battery, the total shutdown module is controlled to disconnect, so that the power circuit is powered off.

[0094] Among them, when entering the fault process, it indicates that the relevant control of the steering motor cannot be normally completed at present. Therefore, it is necessary to power off the power circuit to wait for re-powering after repair. When obtaining the power-off command of the power battery, it indicates that the vehicle has completed parking. At this time, it is also necessary to power off the power circuit to wait for re-powering in the next cycle process.

[0095] Among them, in order to avoid incorrect power-off, on the basis of obtaining the power-off command of the power battery, it is also necessary to obtain the corresponding vehicle speed message indicating that the current vehicle speed is less than 3 m / s, so as to determine that the vehicle has stopped.

[0096] Among them, after the total shutdown module is disconnected, since an energy storage capacitor is usually set in the front stage of the power circuit, it is also necessary to control some power devices in the power circuit to conduct to form a discharge loop, so that the energy on the energy storage capacitor can be discharged to the steering motor.

[0097] Among them, referring to Figure 5 , after the total shutdown module is disconnected, the power-off function can be enabled, so as to turn off the high-voltage area power supply module to stop power supply to the high-voltage area parts of the MCU, motor angle sensor, drive unit, and isolated CAN transceiver, isolated ADC, and digital isolator, thus completing the power-off preparation of the low-voltage components. Wait for the vehicle power management system to stop supplying power to the starting battery. When the starting battery stops supplying power to the low-voltage area power supply module, the angle / displacement sensor and the low-voltage area parts of the isolated CAN transceiver, isolated ADC, and digital isolator stop supplying power.

[0098] In summary, the steering execution system has completed the entire process from power-on to power-off.

[0099] According to the third aspect of the present application, a control method for a steering motor is provided, which is applied to the control device of the steering motor in the above-mentioned embodiment. The drive circuit includes a first redundant drive unit and a second redundant drive unit, and the power circuit includes a first redundant power unit and a second redundant power unit; the control method for the steering motor includes the following steps executed by the control circuit: When at least one of the first redundant drive unit, the first redundant power unit, and the first redundant detection unit fails, and the second redundant drive unit, the second redundant power unit, and the second redundant detection unit do not fail, control the first redundant power unit to turn off through the first redundant drive unit and perform centering control on the steering motor through the second redundant drive unit and the second redundant power unit.

[0100] When at least one of the second redundant drive unit, the second redundant power unit, and the second redundant detection unit fails, and the first redundant drive unit, the first redundant power unit, and the first redundant detection unit do not fail, the second redundant power unit is controlled to turn off by the second redundant drive unit, and the centering control of the steering motor is performed by the first redundant drive unit and the first redundant power unit.

[0101] Among them, as mentioned in the above embodiment, when a failure occurs during the control of the steering motor, it will cause the vehicle to enter the failure process, resulting in high-voltage power-off. In this embodiment, when redundant settings are used to implement the three functions of drive, power, and detection, if only the devices of the other path fail, the devices of the other path can still be used to output drive power to the steering motor, so that the steering motor can still provide steering force. At this time, the total shutdown module is not directly controlled to disconnect, but the power unit of the corresponding path is controlled to disconnect.

[0102] Among them, it is also mentioned in the above embodiment that when only one path outputs drive power, half of the steering force provided by the steering motor can complete part of the steering operation. Specifically in this embodiment, half of the steering force provided by the steering motor can be used to center the wheels to turn off the rear-wheel steering function. At this time, the vehicle can still drive normally based on the front-wheel steering controlled by the steering wheel. Or in other embodiments, half of the steering force provided by the steering motor can be used to assist the driver to limp to the side of the road and stop, improving the vehicle safety mechanism and ensuring user safety.

[0103] According to the fourth aspect of the present application, as Figure 5 shown, a steering execution system is provided, including a steering motor, a mechanical transmission device mechanically connected to the steering motor, and a control device of the steering motor in any of the above embodiments.

[0104] The mechanical transmission device is used for mechanical and electrical connection with the wheels.

[0105] The control device of the steering motor included in the steering execution system in this application still accesses the starting battery through the first power supply circuit for power supply for the detection circuit, control circuit, and drive circuit involved, but accesses the power battery through the second power supply circuit for the power circuit with the largest power ratio. First, it can solve the problem of insufficient power capacity caused by a completely starting battery architecture, and it is not easy to have problems such as insufficient steering force, slow response, or undervoltage faults of other electrical appliances. Second, it can also ensure power surplus while greatly reducing the bus current and phase current, thereby reducing the heat generation, further reducing the wire diameter and copper usage, and not easily bringing serious thermal runaway risks to related wire harnesses, connectors, and components. In addition, when the steering motor uses a permanent magnet synchronous motor, since the inflection point speed of the permanent magnet synchronous motor increases with the increase of the supply voltage, correspondingly, at the same motor power, the output torque can be reduced proportionally. Therefore, it can further reduce the motor size and obtain a higher motor power density.

[0106] According to the fifth aspect of this application, there is provided a vehicle, including the control device of the steering motor in any of the above embodiments, or including the steering execution system in any of the above embodiments.

[0107] The control device of the steering motor included in the vehicle in this application still accesses the starting battery through the first power supply circuit for power supply for the detection circuit, control circuit, and drive circuit involved, but accesses the power battery through the second power supply circuit for the power circuit with the largest power ratio. First, it can solve the problem of insufficient power capacity caused by a completely starting battery architecture, and it is not easy to have problems such as insufficient steering force, slow response, or undervoltage faults of other electrical appliances. Second, it can also ensure power surplus while greatly reducing the bus current and phase current, thereby reducing the heat generation, further reducing the wire diameter and copper usage, and not easily bringing serious thermal runaway risks to related wire harnesses, connectors, and components. In addition, when the steering motor uses a permanent magnet synchronous motor, since the inflection point speed of the permanent magnet synchronous motor increases with the increase of the supply voltage, correspondingly, at the same motor power, the output torque can be reduced proportionally. Therefore, it can further reduce the motor size and obtain a higher motor power density.

[0108] In the description of this application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0109] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0110] Among the embodiments, implementation manners and related technical features of the present application, they can be combined and replaced with each other without conflict.

[0111] The above are only the preferred embodiments of the present application, and do not impose any formal restrictions on the present application. In the embodiments of the present application, the descriptions of the respective embodiments have their own focuses. For parts not detailed in a certain embodiment, reference may be made to the relevant content of other embodiments. However, any brief modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A control device for a steering motor, characterized in that: It includes a control circuit, a detection circuit, a drive circuit, a power circuit, a first power supply circuit and a second power supply circuit; The control circuit, the detection circuit and the drive circuit are respectively used to be electrically connected to the starting battery through the first power supply circuit, the power circuit is used to be electrically connected to the power battery through the second power supply circuit, the control circuit is electrically connected to the detection circuit and electrically connected to the power circuit through the drive circuit, and the power circuit is used to be electrically connected to the steering motor; The control circuit is used to control the steering motor to rotate through the drive circuit and the power circuit according to the mechanical state information fed back by the detection circuit.

2. The control device for the steering motor according to claim 1, characterized in that: The driving circuit includes a first redundant driving unit and a second redundant driving unit, and the power circuit includes a first redundant power unit and a second redundant power unit; The control circuit is electrically connected to the steering motor through the first redundant drive unit and the first redundant power unit, and is electrically connected to the steering motor through the second redundant drive unit and the second redundant power unit.

3. The control device for the steering motor according to claim 1, characterized in that: The control circuit is also electrically connected to the power circuit, and is used to obtain current state information of the power circuit; The control circuit is specifically used to control the power circuit to output driving power through the drive circuit according to the mechanical state information and the current state information, so as to drive the steering motor.

4. The control device for the steering motor according to claim 1, characterized in that: The detection circuit includes a first detection module for detecting first mechanical state information of the steering motor and a second detection module for detecting second mechanical state information of a mechanical transmission device mechanically connected to the motor.

5. The control device for the steering motor according to claim 4, characterized in that: The second detection module includes a first redundant detection unit and a second redundant detection unit, respectively used to detect first mechanical state information of the steering motor.

6. The control device for the steering motor according to claim 4, characterized in that: The control device of the steering motor further includes an isolation circuit, and the isolation circuit includes a digital isolator; The first detection module is electrically connected to the control circuit through the digital isolator.

7. The control device for the steering motor according to claim 6, characterized in that: The first power supply circuit includes a first power supply module and a second power supply module, and the isolation circuit also includes a power supply isolation module; The first power supply module is electrically connected to the first detection module and is used to be electrically connected to the starting battery; The second power supply module is electrically connected to the control circuit, the drive circuit and the second detection module respectively, and is used to be electrically connected to the starting battery through the power supply isolation module.

8. The control device for the steering motor according to claim 7, characterized in that: The first power supply circuit also includes an isolation sampling module; The control circuit is also electrically connected to the first power supply module through the isolation sampling module, and is used to obtain the voltage state information of the first power supply module fed back by the isolation sampling module.

9. The control device for the steering motor according to claim 6, characterized in that: The isolation circuit also includes an isolation transceiver; The control circuit is used to electrically connect to the domain controller through the isolation transceiver and obtain the domain control displacement instruction sent by the domain controller, and to control the steering motor to rotate through the drive circuit and the power circuit according to the mechanical state information and the domain control displacement instruction.

10. The control device for the steering motor according to claim 1, characterized in that: The second power supply circuit includes a power distribution module and a main shutdown module; The power circuit is electrically connected to the power distribution module through the total shutdown module, and the power distribution module is used to be electrically connected to the power battery; The control circuit is also electrically connected to the total shutdown module, and is used to control power on or power off of the power circuit through the total shutdown module.

11. A method for controlling a steering motor, characterized in that: The control device for the steering motor according to claim 10; the control method for the steering motor comprises the following steps performed by the control circuit: Perform self-test after power-on; If the self-test succeeds, wait for the power battery power-on command sent by the domain controller; if the self-test fails, enter the fault process; If the power battery power-on instruction is obtained, the general shutdown module is controlled to be turned on to power on the power circuit, and the steering motor is controlled to return to center through the drive circuit and the power circuit according to the mechanical state information; If the steering motor returns to center successfully, wait for the domain control displacement instruction sent by the domain controller; if the return to center fails, enter the fault process; When the domain control displacement instruction is successfully obtained, the steering motor is controlled through the drive circuit and the power circuit according to the domain control displacement instruction and the mechanical state information; if the domain control displacement instruction fails to be obtained, a fault flow is entered; If the motor control is successful, wait for the power battery power-off instruction sent by the domain controller; If the motor control fails, the fault process is entered; When the fault process is entered and / or the power battery power-off instruction is obtained, the main shutdown module is controlled to be disconnected to power off the power circuit.

12. A method for controlling a steering motor, characterized in that: The control device for the steering motor according to claim 5, wherein the drive circuit includes a first redundant drive unit and a second redundant drive unit, and the power circuit includes a first redundant power unit and a second redundant power unit; and the control method for the steering motor includes the following steps performed by the control circuit: When at least one of the first redundant drive unit, the first redundant power unit and the first redundant detection unit fails, and none of the second redundant drive unit, the second redundant power unit and the second redundant detection unit fails, the first redundant drive unit controls the first redundant power unit to be turned off, and the second redundant drive unit and the second redundant power unit control the steering motor to return to center; When at least one of the second redundant drive unit, the second redundant power unit and the second redundant detection unit fails, and none of the first redundant drive unit, the first redundant power unit and the first redundant detection unit fails, the second redundant power unit is controlled to be shut down by the second redundant drive unit, and the steering motor is controlled to return to center by the first redundant drive unit and the first redundant power unit.

13. A steering execution system, characterized in that: A steering motor, a mechanical transmission device mechanically connected to the steering motor, and a control device for the steering motor according to any one of claims 1 to 10; The mechanical transmission device is used for mechanical and electrical connection with the wheel.

14. A vehicle, characterized in that: A control device for a steering motor comprising any one of claims 1 to 10, or a steering execution system comprising the steering execution system according to claim 13.

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