Current sampling device, current sampling method and vehicle

Abstract

The invention discloses a current sampling device, a current sampling method and a vehicle, and belongs to the technical field of vehicles. The current sampling device is applied to the redundant steering system, the redundant steering system comprises a first motor driving circuit and a second motor driving circuit, and the current sampling device comprises a first current sampling module electrically connected with the first motor driving circuit and configured to obtain a first sampling current value by using a sampling resistor; the second current sampling module is electrically connected with the second motor driving circuit and is configured to obtain a second sampling current value by using a Hall sensor; and the main control unit is connected with the first current sampling module and the second current sampling module, and the main control unit is configured to perform fitting operation on the first sampling current value and the second sampling current value to determine a corrected current value. Current sampling is carried out by adopting heterogeneous combination of a sampling resistor and a Hall sensor, the risk of dual-channel synchronization failure is reduced, and the system reliability and the sampling precision are improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular relates to a current sampling device, a current sampling method and a vehicle. Background Art

[0002] The Electric Power Steering (EPS) system uses real-time vehicle speed and steering wheel torque signals to control the current of the power steering motor through closed-loop control, outputting power torque to assist the driver in steering. The current sampling parameters of the motor drive circuit in the EPS controller have a significant impact on the control performance of the power steering motor and the accuracy of the power steering torque provided by the EPS system.

[0003] In traditional redundant architectures, current sampling modules use sampling resistors of the same specifications to build redundant circuits. However, since components from the same batch are susceptible to similar environmental interference or aging factors, there is a risk of dual-channel synchronization failure, causing the redundant design to lose its fault tolerance and significantly reducing system reliability and sampling accuracy. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a current sampling device, a current sampling method, and a vehicle, which use a heterogeneous combination of sampling resistors and Hall sensors for current sampling, reducing the risk of dual-channel synchronization failure and improving system reliability and sampling accuracy.

[0005] In a first aspect, the present application provides a current sampling device for use in a redundant steering system. The redundant steering system includes a first motor drive circuit and a second motor drive circuit. The current sampling device includes:

[0006] A first current sampling module, comprising a sampling resistor, the sampling resistor being provided in the first motor drive circuit, and the first current sampling module being configured to obtain a first sampled current value using the sampling resistor;

[0007] A second current sampling module includes a Hall sensor, the Hall sensor is disposed in the second motor drive circuit, and the second current sampling module is configured to obtain a second sampled current value using the Hall sensor;

[0008] The main control unit is connected to the first current sampling module and the second current sampling module respectively. The main control unit is configured to perform a fitting operation on the first sampling current value and the second sampling current value to determine a corrected current value.

[0009] According to the current sampling device of the present application, a heterogeneous combination of a sampling resistor and a Hall sensor is used for current sampling. The sampling resistor and the Hall sensor have different working principles and independent response mechanisms to environmental interference and aging factors, which reduces the risk of dual-channel synchronization failure and improves system reliability. The main control unit fuses the first sampled current value and the second sampled current value through fitting calculations, and the final output corrected current value combines the advantages of the dual channels, significantly improving the sampling accuracy.

[0010] According to one embodiment of the present application, the first current sampling module includes:

[0011] The signal processing module is electrically connected to the sampling resistor and the main control unit respectively, and the signal processing module is configured to convert the voltage signal at both ends of the sampling resistor into a current signal.

[0012] According to one embodiment of the present application, the signal processing module includes:

[0013] A filter unit, wherein an input end of the filter unit is electrically connected to the sampling resistor;

[0014] An operational amplifier, wherein the input end of the operational amplifier is electrically connected to the output end of the filter unit, and the output end of the operational amplifier is electrically connected to the main control unit.

[0015] According to one embodiment of the present application, the main control unit includes:

[0016] a first control unit connected to the first current sampling module and configured to obtain a first sampled current value;

[0017] The second control unit is connected to the second current sampling module and the first control unit respectively. The second control unit is configured to obtain a second sampled current value, and perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

[0018] According to one embodiment of the present application, the first control unit and the second control unit communicate through a serial peripheral interface.

[0019] In a second aspect, the present application provides a current sampling method, which is applied to the aforementioned current sampling device. The current sampling method includes:

[0020] Acquire a first sampled current value collected by the first current sampling module and a second sampled current value collected by the second current sampling module;

[0021] A fitting operation is performed on the first sampling current value and the second sampling current value to determine a corrected current value.

[0022] According to the current sampling method of the present application, a heterogeneous combination of a sampling resistor and a Hall sensor is used for current sampling. The sampling resistor and the Hall sensor have different working principles and independent response mechanisms to environmental interference and aging factors, which reduces the risk of dual-channel synchronization failure and improves system reliability. The first sampled current value and the second sampled current value are fused through fitting operations, and the final output corrected current value combines the advantages of the dual channels, significantly improving the sampling accuracy.

[0023] According to one embodiment of the present application, performing a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value includes:

[0024] Determine the weight coefficient according to the working condition of the redundant steering system;

[0025] A weighted operation is performed based on the first sampled current value, the second sampled current value, and the weight coefficient to determine the corrected current value. According to one embodiment of the present application, the corrected current value is calculated according to the following formula:

[0026] I f =αI1+(1-α)I2;

[0027] Wherein, If is the corrected current value; I1 is the first sampling current value; I2 is the second sampling current value; and α is the weight coefficient.

[0028] According to one embodiment of the present application, after performing a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value, the method further includes:

[0029] The first sampling current value and the second sampling current value are corrected according to the fitting current value so that the first sampling current value and the second sampling current value are both equal to the fitting current value.

[0030] In a third aspect, the present application provides a vehicle, which includes a redundant steering system and the aforementioned current sampling device, wherein the current sampling device is connected to the redundant steering system.

[0031] According to the vehicle of the present application, a heterogeneous combination of sampling resistors and Hall sensors is used for current sampling. The sampling resistors and Hall sensors have different working principles and independent response mechanisms to environmental interference and aging factors, which reduces the risk of dual-channel synchronization failure and improves system reliability. The main control unit fuses the first sampling current value and the second sampling current value through fitting operations, and the final output corrected current value combines the advantages of dual channels to significantly improve the sampling accuracy.

[0032] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 This is a structural block diagram of a current sampling device provided in an embodiment of the present application;

[0035] Figure 2 This is one of the circuit topology diagrams of the current sampling device provided in the embodiment of the present application;

[0036] Figure 3 This is one of the circuit topology diagrams of the first current sampling module provided in an embodiment of the present application;

[0037] Figure 4 This is the second circuit topology diagram of the first current sampling module provided in an embodiment of the present application;

[0038] Figure 5 This is the third circuit topology diagram of the first current sampling module provided in an embodiment of the present application;

[0039] Figure 6 This is the fourth circuit topology diagram of the first current sampling module provided in an embodiment of the present application;

[0040] Figure 7 This is the fifth circuit topology diagram of the first current sampling module provided in an embodiment of the present application;

[0041] Figure 8 This is the sixth circuit topology diagram of the first current sampling module provided in an embodiment of the present application;

[0042] Figure 9 This is the second circuit topology diagram of the current sampling device provided in an embodiment of the present application;

[0043] Figure 10 This is a flow chart of the current sampling method provided in an embodiment of the present application.

[0044] Reference numerals:

[0045] First motor drive circuit 10, second motor drive circuit 20, first current sampling module 30, signal processing module 31, second current sampling module 40, main control unit 50, first control unit 51, second control unit 52, first to sixth sampling resistors R1-R6, Hall sensor H. DETAILED DESCRIPTION

[0046] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0047] In the following description, a "circuit" refers to a conductive loop consisting of at least one element or subcircuit connected electrically or electromagnetically. When an element or circuit is said to be "coupled to" or "connected to" another element, or when an element / circuit is said to be "coupled to" or "connected between" two nodes, it can be directly coupled or connected to the other element or there can be intervening elements. The connection between the elements can be physical, logical, or a combination thereof. Conversely, when an element is said to be "directly coupled to" or "directly connected to" another element, it means that there are no intervening elements between the two elements.

[0048] In the description, the terms "first," "second," etc. are used to distinguish similar objects, not to describe a particular order or precedence. It should be understood that the numerical descriptors used in this manner are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," etc. are generally of a class and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0049] In addition, descriptions with reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0050] The Electric Power Steering (EPS) system uses real-time vehicle speed and steering wheel torque signals to control the current of the power steering motor through closed-loop control, outputting power torque to assist the driver in steering. The current sampling parameters of the motor drive circuit in the EPS controller have a significant impact on the control performance of the power steering motor and the accuracy of the power steering torque provided by the EPS system.

[0051] In a single-system design, failure of any key component (such as the motor, motor drive circuit, torque / angle sensor, and main control unit (MCU)) can lead to a complete loss of steering assistance, resulting in loss of vehicle control. To improve vehicle safety, redundant steering systems are often used to assist the driver in turning the steering wheel.

[0052] In traditional redundant architectures, current sampling modules use sampling resistors of the same specifications to build redundant circuits. However, since components from the same batch are susceptible to similar environmental interference or aging factors, there is a risk of dual-channel synchronization failure, causing the redundant design to lose its fault tolerance and significantly reducing system reliability and sampling accuracy.

[0053] Figure 1 The structure block diagram of the current sampling device provided by the embodiment of the present application is shown. Figure 1 One embodiment of the present application provides a current sampling device for use in a redundant steering system. The redundant steering system includes a first motor drive circuit 10 and a second motor drive circuit 20. The current sampling device includes a first current sampling module 30, a second current sampling module 40, and a main control unit 50. The first current sampling module 30 includes a sampling resistor, which is disposed in the first motor drive circuit 10. The first current sampling module 30 is configured to obtain a first sampled current value using the sampling resistor. The second current sampling module 40 includes a Hall sensor, which is disposed in the second motor drive circuit 20. The second current sampling module 40 is configured to obtain a second sampled current value using the Hall sensor. The main control unit 50 is connected to the first current sampling module 30 and the second current sampling module 40, respectively. The main control unit 50 is configured to perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

[0054] The redundant steering system utilizes a dual-channel safety architecture, comprising a first motor drive circuit 10 and a second motor drive circuit 20. Physical isolation achieves fault tolerance, ensuring that steering assistance is maintained even if a single circuit fails. The first and second motor drive circuits 10 and 20 are typically H-bridge circuits or three-phase inverter bridge circuits. Their specific structures are well-established in related technologies and will not be further elaborated here.

[0055] The first current sampling module 30 is a resistor sampling module. The first current sampling module 30 is connected to the first motor drive circuit 10 and uses a sampling resistor to detect the current in the first motor drive circuit 10. Specifically, the first current sampling module 30 collects the voltage drop across the resistor and generates a first sampled current value through differential amplification and analog-to-digital conversion based on Ohm's law.

[0056] The resistance of the sampling resistor can be determined according to the actual application scenario and is not limited here. For example, the resistance of the sampling resistor can be 5mΩ or 10mΩ.

[0057] The method of using a sampling resistor to collect the current of the first motor drive circuit 10 is a relatively mature related technology and will not be described in detail here.

[0058] The second current sampling module 40 is magnetically coupled to the second motor drive circuit 20 and utilizes a Hall effect sensor to detect the current flowing through the second motor drive circuit 20. A Hall effect sensor is a semiconductor device based on the Hall effect principle that indirectly measures current by detecting the strength of the magnetic field generated by the current. The Hall effect sensor typically integrates a filter module and an operational amplifier, directly outputting an analog current signal to the main control unit 50.

[0059] By adopting a dual-module redundant design with differentiated principles, common-mode failures are effectively avoided, and the system's mean time between failures is significantly improved, thereby enhancing the safety and reliability of the redundant steering system.

[0060] The main control unit 50 is connected to the first current sampling module 30 and the second current sampling module 40, respectively, to obtain the first sampled current value and the second sampled current value. The main control unit 50 stores a data fitting algorithm that performs real-time comparison, verification, and fusion operations on the two sampled values. The specific algorithm used by the main control unit 50 to perform the fitting operation on the first sampled current value and the second sampled current value can be determined based on the actual application scenario and is not limited here. For example, the main control unit 50 can use a weighted average algorithm to perform the fitting operation on the first sampled current value and the second sampled current value.

[0061] As an example, considering that resistance sampling is susceptible to temperature changes, in high-temperature environments, the first sampled current value can be assigned a smaller weight, while the second sampled current value can be assigned a larger weight. Specifically, the first sampled current value can be assigned a weight of 0.35, while the second sampled current value can be assigned a weight of 0.65.

[0062] It should be noted that the above-mentioned fitting calculation methods are only illustrative and not exhaustive. Any modifications, equivalent substitutions, improvements or variations made within the spirit and principles of the present invention, as well as any other reasonable implementation modes, shall be included in the scope of protection of the present invention.

[0063] According to the current sampling device of the present application, a heterogeneous combination of a sampling resistor and a Hall sensor is used for current sampling. The sampling resistor and the Hall sensor have different working principles and independent response mechanisms to environmental interference and aging factors, thereby reducing the risk of dual-channel synchronization failure and improving system reliability. The main control unit 50 fuses the first sampled current value and the second sampled current value through a fitting operation, and the final output corrected current value combines the advantages of the dual channels, significantly improving the sampling accuracy.

[0064] Figure 2 The circuit topology of the current sampling device provided by the embodiment of the present application is shown. Figure 2 In some embodiments, the first current sampling module 30 further includes a signal processing module 31. The signal processing module 31 is electrically connected to the sampling resistor and the main control unit 50, and is configured to convert the voltage signal across the sampling resistor into a current signal.

[0065] It should be noted that the number and specific locations of the sampling resistors can be determined according to actual application scenarios and are not limited here.

[0066] Reference Figure 3 and Figure 4 As an example, the first current sampling module 30 may include a first sampling resistor R1, and the first sampling resistor R1 may be arranged at the bus grounding terminal of the first motor drive circuit 10 (eg Figure 3 as shown) or the power input end of the bus (as shown Figure 4 shown).

[0067] Reference Figure 5 and Figure 6 As another example, the first current sampling module 30 may include a second sampling resistor R2 and a third sampling resistor R3, and the second sampling resistor R2 and the third sampling resistor R3 are respectively provided at any two lower bridge arms of the three-phase bridge (such as Figure 5 As shown), or the second sampling resistor R2 and the third sampling resistor R3 are respectively set on any two phase lines of the three-phase bridge (as shown Figure 6 shown).

[0068] Reference Figure 7 and Figure 8 As another example, the first current sampling module 30 may include a fourth sampling resistor R4, a fifth sampling resistor R5, and a sixth sampling resistor R6. The fourth sampling resistor R4, the fifth sampling resistor R5, and the sixth sampling resistor R6 are respectively arranged in the three lower bridge arms of the three-phase bridge (such as Figure 7 As shown), or the fourth sampling resistor R4, the fifth sampling resistor R5 and the sixth sampling resistor R6 are respectively arranged on the three phase lines of the three-phase bridge (as shown Figure 8 shown).

[0069] It is understandable that the number and specific locations of the Hall sensors H can refer to the example of the sampling resistors mentioned above, and will not be described in detail here.

[0070] The signal processing module 31 converts the voltage signal across the sampling resistor into an analog current signal based on Ohm's law of the sampling resistor, and transmits the converted analog current signal to the main control unit 50 .

[0071] The specific structure of the signal processing module 31 can be selected based on the actual application scenario and is not limited here. For example, the signal processing module 31 can be a pre-driver chip. The pre-driver chip has an integrated operational amplifier. The two ends of the sampling resistor can be connected to the operational amplifier in the pre-driver chip. After amplification at a pre-set amplification factor, the voltage signal is converted and output as an analog current signal, which is then sent by the pre-driver chip to the main control unit 50.

[0072] In some embodiments, the signal processing module 31 includes a filter unit and an operational amplifier. The input end of the filter unit is electrically connected to the sampling resistor; the input end of the operational amplifier is electrically connected to the output end of the filter unit, and the output end of the operational amplifier is electrically connected to the main control unit 50.

[0073] The filter unit is a module that performs frequency-selective processing on the input signal, primarily designed to pass or suppress signals within a specific frequency range. After the voltage signal across the sampling resistor is transmitted to the filter unit's input, the filter unit removes any harmonic interference from the voltage signal.

[0074] The specific type of the filtering unit can be selected according to the actual application scenario. There are relatively mature related technologies for the specific type of the filtering unit, which will not be described in detail here.

[0075] The voltage signal across the sampling resistor is filtered by the filter unit and then transmitted to the operational amplifier. The operational amplifier is mainly used to amplify the voltage signal after filtering by the filter unit and convert the amplified voltage signal into a proportional current signal output.

[0076] The specific structure and amplification factor of the operational amplifier can be determined according to the actual application scenario and are not determined here in advance.

[0077] The combination of the filter unit and the operational amplifier realizes high-precision and strong anti-interference conversion of voltage signal to current signal, thereby improving the accuracy and reliability of the detection results.

[0078] Figure 9 The circuit topology of the current sampling device provided by the embodiment of the present application is shown. Figure 9 In some embodiments, the main control unit 50 includes a first control unit 51 and a second control unit 52. The first control unit 51 is connected to the first current sampling module 30 and is configured to obtain a first sampled current value; the second control unit 52 is connected to the second current sampling module 40 and the first control unit 51 respectively, and is configured to obtain a second sampled current value and perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

[0079] The first control unit 51 is mainly used to obtain a first sampling current value collected by the sampling resistor, and the second control unit 52 is mainly used to obtain a second sampling current value collected by the Hall sensor H, and perform fitting operation on the two sampling current values to determine a corrected current value.

[0080] In other embodiments, the first control unit 51 may perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

[0081] The specific types of the first control unit 51 and the second control unit 52 can be selected according to the actual application scenario and are not limited here. For example, the first control unit 51 and the second control unit 52 can be microprocessors.

[0082] The first current sampling module 30 for sampling using a sampling resistor and the second current sampling module 40 for sampling using a Hall sensor H correspond to independent control units. The independent control units can process and verify the data of the sampling resistor and the Hall sensor H respectively, thereby preventing the failure of a single control unit from causing the failure of the entire sampling system.

[0083] In some embodiments, the first control unit 51 and the second control unit 52 communicate via a serial peripheral interface.

[0084] Serial Peripheral Interface (SPI) is a synchronous, full-duplex, master-slave serial communication protocol used for short-distance, high-speed data transmission.

[0085] The first control unit 51 and the second control unit 52 communicate via the serial peripheral interface, which can achieve fast signal transmission between the two control units and improve the response speed of the system.

[0086] Figure 10 1 shows a flow chart of the current sampling method provided by the embodiment of the present application. Figure 10 One embodiment of the present application provides a current sampling method, which is applied to the aforementioned current sampling device. The current sampling method includes steps 10 and 20.

[0087] Step 10: Acquire the first sampled current value collected by the first current sampling module 30 and the second sampled current value collected by the second current sampling module 40;

[0088] Step 20: Perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

[0089] The execution subject of the current sampling method provided in the embodiment of the present application can be the main control unit 50 or a functional module or functional entity in the main control unit 50 that can implement the control method. The current sampling method of the logic operation circuit provided in the embodiment of the present application is described below using the main control unit 50 as an example of the execution subject.

[0090] The first current sampling module 30 adopts a resistor sampling method, and its sampling resistor is connected in series in the first motor drive circuit 10. The first current sampling module 30 measures the voltage drop across the sampling resistor and, based on Ohm's law, combines the differential amplifier module and the analog-to-digital conversion module to finally generate a first sampling current value representing the current of the first motor drive circuit 10.

[0091] The second current sampling module 40 is magnetically coupled to the second motor drive circuit 20 and uses a Hall effect sensor H to detect the current in the second motor drive circuit 20. The Hall effect sensor H operates based on the Hall effect, enabling contactless measurement by sensing the magnetic field strength of the current. The Hall effect sensor H incorporates filtering and amplification circuitry, directly outputting an analog signal proportional to the measured current to the main control unit 50.

[0092] In some embodiments, during the process of acquiring the current value, a hardware trigger or a software timer may be used to ensure the time alignment of the two sampling values, thereby eliminating dynamic errors caused by asynchronous sampling.

[0093] After obtaining the first sampled current value and the second sampled current value, the main control unit 50 performs a fitting operation on the first sampled current value and the second sampled current value. The specific algorithm used in the fitting operation can be determined according to the actual application scenario and is not limited here.

[0094] As an example, considering that resistor sampling is affected by temperature drift and parasitic inductance, sampling accuracy decreases in the low current range, Hall sampling has zero drift and nonlinearity issues, and in the high current range, magnetic saturation may cause sampling deviation. In the low current range (for example, 0–30% of the range), the second sampling current value is preferentially used to avoid resistor sampling noise; in the high current range (for example, 70%–100% of the range), the first sampling current value is preferentially used to avoid Hall magnetic saturation error; in the medium current range (30%–70% of the range), the weights of the first and second sampling current values are dynamically allocated according to the current ratio.

[0095] It should be noted that the above-mentioned fitting calculation methods are only illustrative and not exhaustive. Any modifications, equivalent substitutions, improvements or variations made within the spirit and principles of the present invention, as well as any other reasonable implementation modes, shall be included in the scope of protection of the present invention.

[0096] According to the current sampling method of the present application, a heterogeneous combination of a sampling resistor and a Hall sensor H is used for current sampling. The sampling resistor and the Hall sensor H have different working principles and independent response mechanisms to environmental interference and aging factors, thereby reducing the risk of dual-channel synchronization failure and improving system reliability. The first sampled current value and the second sampled current value are fused through a fitting operation, and the final output corrected current value combines the advantages of the dual channels, significantly improving the sampling accuracy.

[0097] In some embodiments, performing a fitting operation on the first sampled current value and the second sampled current value to determine the corrected current value includes:

[0098] Determine the weight coefficient according to the working condition of the redundant steering system;

[0099] A weighted calculation is performed according to the first sampled current value, the second sampled current value and the weight coefficient to determine the corrected current value.

[0100] The operating condition of the redundant steering system refers to the comprehensive state set of the redundant steering system under specific operating conditions, which is determined by factors such as vehicle dynamic parameters, current sampling frequency, driver intention and environmental variables.

[0101] The weight coefficient is determined based on the operating conditions of the redundant steering system. The weight coefficient can be determined based on one of the aforementioned factors or a combination of multiple factors. The following uses the example of determining the weight coefficient based on the current sampling frequency of the redundant steering system as an example.

[0102] When current sampling is performed at a high frequency, the accuracy of current sampling using the Hall sensor H is higher, so the weight of the second sampled current value is greater than the weight of the second sampled current value; when current sampling is performed at a low frequency, the accuracy of current sampling using the sampling resistor is higher, so the weight of the second sampled current value is less than the weight of the second sampled current value; when the sampling frequency is balanced, the accuracy of the two current sampling methods is equivalent, so the weight of the second sampled current value can be equal to the weight of the second sampled current value.

[0103] The correspondence between the working conditions of the redundant steering system and the weight coefficient can be determined according to the actual application scenario and is not limited here.

[0104] In some embodiments, the corrected current value is calculated according to the following formula:

[0105] I f =αI1+(1-α)I2;

[0106] Wherein, If is the corrected current value; I1 is the first sampling current value; I2 is the second sampling current value; and α is the weight coefficient.

[0107] In the process of calculating the corrected current value, α represents the weight of the first sampled current value, and (1-α) represents the weight of the first sampled current value. The specific value of α is determined according to the operating conditions of the redundant steering system and is not limited here.

[0108] As an example, when current sampling is performed at a high frequency, α may be 0.2; when current sampling is performed at a low frequency, α may be 0.35; and when the sampling frequencies are balanced, α may be 0.5.

[0109] In some embodiments, after performing a fitting operation on the first sampled current value and the second sampled current value to determine the corrected current value, the method further includes:

[0110] The first sampling current value and the second sampling current value are corrected according to the fitting current value so that the first sampling current value and the second sampling current value are both equal to the fitting current value.

[0111] After obtaining the corrected current value, the original sampling channel is calibrated in real time through a reverse compensation mechanism to correct the original channel's current sampling value. In traditional solutions, the zero-point drift of the Hall effect sensor H and the temperature drift of the resistance sampling accumulate over time. This solution uses closed-loop correction to suppress long-term drift within a smaller range, improving current sampling accuracy.

[0112] One embodiment of the present application provides a vehicle, which includes a redundant steering system and the aforementioned current sampling device, wherein the current sampling device is connected to the redundant steering system.

[0113] The structure and working principle of the current sampling device can refer to the above embodiments and will not be described in detail here.

[0114] According to the vehicle of the present application, a heterogeneous combination of a sampling resistor and a Hall sensor H is used for current sampling. The sampling resistor and the Hall sensor H have different working principles and independent response mechanisms to environmental interference and aging factors, thereby reducing the risk of dual-channel synchronization failure and improving system reliability. The main control unit 50 fuses the first sampled current value and the second sampled current value through a fitting operation, and the final output corrected current value combines the advantages of the dual channels, significantly improving the sampling accuracy.

[0115] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and purpose of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A current sampling device, characterized in that: Applied to a redundant steering system, the redundant steering system includes a first motor drive circuit and a second motor drive circuit, and the current sampling device includes: A first current sampling module, comprising a sampling resistor, wherein the sampling resistor is provided in the first motor drive circuit, and the first current sampling module is configured to obtain a first sampled current value by using the sampling resistor; A second current sampling module, comprising a Hall sensor, wherein the Hall sensor is provided in the second motor drive circuit, and the second current sampling module is configured to obtain a second sampled current value by using the Hall sensor; A main control unit is connected to the first current sampling module and the second current sampling module respectively, and the main control unit is configured to perform a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value.

2. The current sampling device according to claim 1, characterized in that: The first current sampling module further includes: A signal processing module is electrically connected to the sampling resistor and the main control unit respectively, and the signal processing module is configured to convert the voltage signal at both ends of the sampling resistor into a current signal.

3. The current sampling device according to claim 2, characterized in that: The signal processing module includes: a filter unit, wherein an input end of the filter unit is electrically connected to the sampling resistor; An operational amplifier, wherein the input end of the operational amplifier is electrically connected to the output end of the filtering unit, and the output end of the operational amplifier is electrically connected to the main control unit.

4. The current sampling device according to any one of claims 1 to 3, characterized in that: The main control unit includes: a first control unit, connected to the first current sampling module and configured to obtain the first sampled current value; The second control unit is connected to the second current sampling module and the first control unit respectively, and the second control unit is configured to obtain the second sampled current value, and perform a fitting operation on the first sampled current value and the second sampled current value to determine the corrected current value.

5. The current sampling device according to claim 4, characterized in that: The first control unit and the second control unit communicate via a serial peripheral interface.

6. A current sampling method, characterized in that: Applied to the current sampling device according to any one of claims 1 to 5, the current sampling method includes: Acquire a first sampled current value collected by the first current sampling module and a second sampled current value collected by the second current sampling module; A fitting operation is performed on the first sampling current value and the second sampling current value to determine a corrected current value.

7. The current sampling method according to claim 6, characterized in that: The performing a fitting operation on the first sampled current value and the second sampled current value to determine a corrected current value includes: Determine the weight coefficient according to the working condition of the redundant steering system; The corrected current value is determined by performing a weighted operation based on the first sampled current value, the second sampled current value, and the weight coefficient.

8. The current sampling method according to claim 7, characterized in that: The corrected current value is calculated according to the following formula: I f =αI1+(1-α)I2; Wherein, If is the corrected current value; I1 is the first sampled current value; I2 is the second sampled current value; and α is the weight coefficient.

9. The current sampling method according to any one of claims 6 to 8, characterized in that: After performing the fitting operation on the first sampled current value and the second sampled current value to determine the corrected current value, the method further includes: The first sampling current value and the second sampling current value are corrected according to the fitting current value, so that the first sampling current value and the second sampling current value are both equal to the fitting current value.

10. A vehicle, characterized in that: The system comprises a redundant steering system and a current sampling device according to any one of claims 1 to 5, wherein the current sampling device is connected to the redundant steering system.

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