Steer-by-wire hand feeling simulator circuit and vehicle

Abstract

The invention discloses a steer-by-wire hand feeling simulator circuit and a vehicle. The bridge circuit comprises three upper bridge arm switch tubes and three lower bridge arm switch tubes, and the output end of the bridge circuit is connected with the three-phase motor. The first driving unit is connected with the control ends of the three upper bridge arm switch tubes, and the first driving unit and the second driving unit are connected with the control ends of the three lower bridge arm switch tubes. The first control unit receives a steering wheel angle and torque signal, outputs a PWM signal to the first driving unit, and outputs a control signal to the second driving unit. The second control unit receives a steering wheel angle and torque signal and outputs a control signal to the second drive unit. The first driving unit drives a switching tube in the bridge circuit to be switched on or switched off during normal work; and the second driving unit drives a non-fault-phase switch tube in the three lower bridge arm switch tubes to be switched on or switched off when a fault occurs so as to drive the three-phase motor to provide hand feeling feedback resistance. According to the technical scheme, the circuit architecture is simplified, and the cost is reduced.

Description

A drive-by-wire steering feel simulator circuit and a vehicle Technical Field

[0001] This invention relates to the field of automotive steer-by-wire systems, and more particularly to a steer-by-wire feel simulator circuit and a vehicle. Background Technology

[0002] The steer-by-wire system eliminates the intermediate shaft connecting the steering wheel and steering actuators in traditional automotive steering systems, dividing the system into two parts: a hand-feel simulator and wheel actuators. The hand-feel simulator collects the driver's steering intentions, including steering wheel angle and hand force, and generates corresponding hand force feedback based on vehicle status to simulate the "road feel" of traditional steering. The wheel actuators drive the wheels to complete the steering action according to steering commands issued by the hand-feel simulator or the intelligent driving system. The hand-feel simulator and wheel actuators exchange signals via communication networks such as Controller Area Network (CAN). For the hand-feel simulator, the functional safety requirement is that the steer-by-wire system should prevent the loss of hand-feel feedback resistance during vehicle operation.

[0003] In current technical solutions, to meet functional safety requirements, typical steering wheel simulators employ a fully redundant circuit architecture. This architecture typically includes two independent redundant subsystems. Each subsystem includes an independent power supply line, a steering wheel angle and torque sensor signal processing unit, a common CAN communication interface, a private CAN communication interface, a microcontroller unit, a power management chip, a pre-drive chip, and a bridge drive circuit. The two subsystems jointly drive a six-phase redundant permanent magnet synchronous motor. In normal operating mode, the two redundant subsystems operate simultaneously, verifying their status through internal communication, and each provides 50% of the assist output to the motor, together forming the complete steering wheel feedback torque. If one subsystem malfunctions, that subsystem cannot provide steering wheel feedback, while the other subsystem can provide 50% of the steering wheel feedback resistance.

[0004] However, the circuit architecture of the aforementioned tactile simulator is complex and the cost is high. Summary of the Invention

[0005] This invention provides a steer-by-wire feel simulator circuit and a vehicle to simplify the circuit architecture of the feel simulator circuit and reduce costs.

[0006] According to one aspect of the present invention, a steer-by-wire feel simulator circuit is provided. The steer-by-wire feel simulator circuit provided in the embodiments of the present invention includes: a first control unit, a second control unit, a bridge circuit, a first drive unit, and a second drive unit; the bridge circuit includes three upper bridge arm switches and three lower bridge arm switches, and the output terminal of the bridge circuit is connected to a three-phase motor; the first drive unit is connected to the control terminals of the three upper bridge arm switches, and both the first drive unit and the second drive unit are connected to the control terminals of the three lower bridge arm switches; the first control unit is used to receive steering wheel angle and torque signals and output PWM signals to the first drive unit, and output control signals to the second drive unit; the second control unit is used to receive steering wheel angle and torque signals and output control signals to the second drive unit; the first drive unit is used to drive the switches in the bridge circuit to turn on or off during normal operation; the second drive unit is used to drive the switches of the non-faulty phases of the three lower bridge arm switches to turn on or off during a fault, so as to drive the three-phase motor to provide feel feedback resistance.

[0007] Optionally, the first driving unit includes a switching transistor driving chip, and the second driving unit includes a transistor driving circuit.

[0008] Optionally, the transistor driving circuit includes a first transistor driving circuit, a second transistor driving circuit, and a third transistor driving circuit; the control terminals of the first, second, and third transistor driving circuits are all connected to the first control unit and the second control unit; the power supply terminals of the first, second, and third transistor driving circuits are all connected to a power supply voltage; the fixed potential terminals of the first, second, and third transistor driving circuits are also connected to a fixed potential terminal. All terminals are grounded; the output terminal of the first transistor driver circuit is connected to the control terminal of the first lower bridge arm switch, the output terminal of the second transistor driver circuit is connected to the control terminal of the second lower bridge arm switch, and the output terminal of the third transistor driver circuit is connected to the control terminal of the third lower bridge arm switch; the first transistor driver circuit is used to connect the control terminal of the first lower bridge arm switch to the power supply voltage when it is turned on, the second transistor driver circuit is used to connect the control terminal of the second lower bridge arm switch to the power supply voltage when it is turned on, and the third transistor driver circuit is used to connect the control terminal of the third lower bridge arm switch to the power supply voltage when it is turned on.

[0009] Optionally, the first transistor driver circuit includes a first transistor, a second transistor, a first resistor, a second resistor, and a third resistor; the first terminal of the first resistor serves as the control terminal of the first transistor driver circuit, the second terminal of the first resistor is connected to the control terminal of the first transistor, and the first terminal of the first transistor is grounded; the second terminal of the first transistor is connected to the first terminal of the second resistor, the second terminals of the second resistor and the first terminals of the third resistor are both connected to the control terminals of the second transistor, the second terminal of the third resistor is connected to the first terminal of the second transistor, and the first terminal of the second transistor is connected to a power supply voltage; the second terminal of the second transistor serves as the output terminal of the first transistor driver circuit; the second transistor driver circuit includes a third transistor, a fourth transistor, a fourth resistor, a fifth resistor, and a sixth resistor; the first terminal of the fourth resistor serves as the control terminal of the second transistor driver circuit, the second terminal of the fourth resistor is connected to the control terminal of the third transistor, and the first terminal of the third transistor is grounded; the third transistor's... The second terminal is connected to the first terminal of the fifth resistor. The second terminals of the fifth and sixth resistors are both connected to the control terminals of the fourth transistor. The second terminal of the sixth resistor is connected to the first terminal of the fourth transistor. The first terminal of the fourth transistor is connected to the power supply voltage. The second terminal of the fourth transistor serves as the output terminal of the second transistor driver circuit. The third transistor driver circuit includes the fifth transistor, the sixth transistor, the seventh resistor, the eighth resistor, and the ninth resistor. The first terminal of the seventh resistor serves as the control terminal of the third transistor driver circuit. The second terminal of the seventh resistor is connected to the control terminal of the fifth transistor. The first terminal of the fifth transistor is grounded. The second terminal of the fifth transistor is connected to the first terminal of the eighth resistor. The second terminals of the eighth and ninth resistors are both connected to the control terminals of the sixth transistor. The second terminal of the ninth resistor is connected to the first terminal of the sixth transistor. The first terminal of the sixth transistor is connected to the power supply voltage. The second terminal of the sixth transistor serves as the output terminal of the third transistor driver circuit.

[0010] Optionally, the first control unit or the second control unit is used to output a first control signal to the second drive unit when one of the three upper bridge arm switches is open-circuited, and the second drive unit drives any one of the three lower bridge arm switches to turn on.

[0011] Optionally, the first control unit or the second control unit is used to output a first control signal to the second drive unit when one of the three lower bridge arm switching transistors is open-circuited, and the second drive unit drives any one of the three lower bridge arm switching transistors that is not open-circuited to turn on.

[0012] Optionally, the first control unit or the second control unit is used to output a second control signal to the second drive unit when one of the three upper bridge arm switching transistors is short-circuited. The second drive unit controls the three lower bridge arm switching transistors to turn off, and the steer-by-wire feel simulator circuit freewheels through the body diode of the three upper bridge arm switching transistors that are not short-circuited, so as to form a current loop with the three-phase motor.

[0013] Optionally, the first control unit is used to output a PWM signal to the first drive unit when one of the three lower bridge arm switches is short-circuited. The first drive unit controls the three upper bridge arm switches to turn off. The steering-by-wire feel simulator circuit freewheels through the body diode of the three lower bridge arm switches that are not short-circuited to form a current loop with the three-phase motor.

[0014] Optionally, the steer-by-wire simulator circuit of this embodiment further includes a first power management unit and a second power management unit; both the first power management unit and the second power management unit are connected to the power supply terminal of the bridge circuit and are used to supply power to the switching transistors in the bridge circuit.

[0015] According to another aspect of the present invention, a vehicle is provided, characterized in that it includes a steer-by-wire feel simulator circuit according to any embodiment of the present invention.

[0016] The technical solution of this invention includes a first control unit, a second control unit, a bridge circuit, a first drive unit, and a second drive unit. The bridge circuit includes three upper bridge arm switches and three lower bridge arm switches, and its output is connected to a three-phase motor. The first drive unit is connected to the control terminals of the three upper bridge arm switches, and both the first and second drive units are connected to the control terminals of the three lower bridge arm switches. The first control unit receives steering wheel angle and torque signals and outputs PWM signals to the first drive unit, and outputs control signals to the second drive unit; alternatively, the second control unit receives steering wheel angle and torque signals and outputs control signals to the second drive unit. During normal operation, the first drive unit drives the switches in the bridge circuit to turn on or off. In case of a fault, the second drive unit drives the switches of the non-faulty phases of the three lower bridge arm switches to turn on or off, thereby driving the three-phase motor to provide tactile feedback resistance. In summary, compared to the completely redundant solution of the traditional steer-by-wire feel simulator circuit, the technical solution of this invention reduces one bridge circuit, simplifies the circuit structure, reduces costs, and makes the steer-by-wire feel simulator smaller, which is beneficial for installation on the vehicle.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a schematic diagram of a steer-by-wire feel simulator circuit provided in an embodiment of the present invention; Figure 2 is a schematic diagram of another steer-by-wire feel simulator circuit provided in an embodiment of the present invention; Figure 3 is a schematic diagram of a freewheeling circuit for a three-phase motor when a bridge circuit fails, provided in an embodiment of the present invention; Figure 4 is a schematic diagram of a freewheeling circuit for a three-phase motor when a bridge circuit fails, provided in another embodiment of the present invention; Figure 5 is a schematic diagram of a freewheeling circuit for a three-phase motor when a bridge circuit fails, provided in yet another embodiment of the present invention; Figure 6 is a schematic diagram of a freewheeling circuit for a three-phase motor when a bridge circuit fails, provided in yet another embodiment of the present invention; Figure 7 is a schematic diagram of a freewheeling circuit for a three-phase motor when a non-bridge circuit fails, provided in an embodiment of the present invention; Figure 8 is a schematic diagram of another steer-by-wire feel simulator circuit provided in an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Figure 1 is a schematic diagram of a steer-by-wire feel simulator circuit provided in an embodiment of the present invention. This embodiment is applicable to scenarios where a steer-by-wire system needs to avoid losing the feel feedback torque during vehicle operation to meet the functional safety requirements of the feel simulator. As shown in Figure 1, the steer-by-wire feel simulator circuit of this embodiment includes: a first control unit 110, a second control unit 120, a bridge circuit 130, a first drive unit 140, and a second drive unit 150; the bridge circuit 130 includes three upper bridge arm switches and three lower bridge arm switches, and the output terminal of the bridge circuit 130 is connected to a three-phase motor PMSM; the first drive unit 140 is connected to the control terminals of the three upper bridge arm switches, and both the first drive unit 140 and the second drive unit 150 are connected to the control terminals of the three lower bridge arm switches; the first control unit 110... Unit 10 is used to receive steering wheel angle and torque signals and output PWM signal P1 to the first drive unit 140, and output control signal to the second drive unit 150; the second control unit 120 is used to receive steering wheel angle and torque signals and output control signal to the second drive unit 150; the first drive unit 140 is used to drive the switching transistors in the bridge circuit to turn on or off during normal operation; the second drive unit 150 is used to drive the switching transistors of the non-faulty phases of the three lower bridge arm switching transistors to turn on or off during a fault, so as to drive the three-phase motor PMSM to provide hand feel feedback resistance.

[0023] In this embodiment of the invention, the first control unit 110 can receive the steering wheel angle and torque signal TAS1 output by the first angle and torque sensor. The first angle and torque sensor can be installed on the steering column. When the driver turns the steering wheel, it measures and outputs the steering wheel angle and torque signal TAS1. The first control unit 110 can also connect to the vehicle's CAN interface through the public CAN (i.e., public CAN1) to obtain vehicle information such as vehicle speed and engine speed. The private CAN (i.e., private CAN1) is the communication interface between the hand feel simulator and the wheel control actuator. The first control unit 110 can connect to the communication interface between the hand feel simulator and the wheel control actuator through the private CAN1, receive the actual physical resistance of the road surface fed back by the wheel control actuator, calculate the target hand feel torque command based on the actual physical resistance of the road surface, and send a PWM signal P1 to the first drive unit 140 or a control signal EN1 to the second drive unit 150 to drive the three-phase motor PMSM to generate hand feel feedback resistance, so that the hand feel simulator can generate hand feel resistance on the steering wheel to realize road feel simulation. This prevents the accidental loss of hand feel feedback resistance during vehicle operation, ensuring that the driver can obtain the necessary steering perception under any circumstances.

[0024] The second control unit 120 can receive the steering wheel angle and torque signal TAS2 output by the second angle torque sensor. The second angle torque sensor can be installed on the steering column. When the driver turns the steering wheel, it measures and outputs the steering wheel angle and torque signal TAS2. The first angle torque sensor and the second angle torque sensor can be the same or separate angle torque sensors. The second control unit 120 can connect to the vehicle's CAN interface through the public CAN (i.e., public CAN2) to obtain vehicle information such as vehicle speed and engine speed. The private CAN (i.e., private CAN2) is the communication interface between the hand feel simulator and the wheel control actuator. The second control unit 120 can connect to the communication interface between the hand feel simulator and the wheel control actuator through private CAN2, receive the actual physical resistance of the road surface fed back by the wheel control actuator, calculate the target hand feel torque command based on the actual physical resistance of the road surface, and send the control signal EN1 to the second drive unit 150 to drive the three-phase motor PMSM to generate hand feel feedback resistance, so that the hand feel simulator can generate hand feel resistance on the steering wheel to realize road feel simulation. The second control unit 120 and the first control unit 110 can communicate with each other and are redundant. When the first control unit 110 fails, the second control unit 120 can take over control and send the control signal EN1 to the second drive unit 150. When the second control unit 120 fails, the first control unit 110 can take over control and send the control signal EN1 to the second drive unit 150.

[0025] The three upper-arm switches of the bridge circuit 130 may include a first upper-arm switch N1, a second upper-arm switch N3, and a third upper-arm switch N5. The control terminals of the first upper-arm switch N1, the second upper-arm switch N3, and the third upper-arm switch N5 are all connected to the first drive unit 140. The first terminals of the first upper-arm switch N1, the second upper-arm switch N3, and the third upper-arm switch N5 are all connected to the power supply PWR. The second terminals of the first upper-arm switch N1, the second upper-arm switch N3, and the third upper-arm switch N5 are respectively connected to the U-phase, V-phase, and W-phase of the three-phase motor PMSM. The three lower-arm switches of the bridge circuit 130 may include a first lower-arm switch N2, a second lower-arm switch N4, and a third lower-arm switch N6. The control terminals of the first lower arm switch N2, the second lower arm switch N4, and the third lower arm switch N6 are all connected to the first drive unit 140 and the second drive unit 150, respectively. The first end of the first lower arm switch N2, the first end of the second lower arm switch N4, and the first end of the third lower arm switch N6 are connected to the first end of the first upper arm switch N1, the first end of the second upper arm switch N3, and the first end of the third upper arm switch N5, respectively. The second ends of the first lower arm switch N2, the second lower arm switch N4, and the third lower arm switch N6 are all grounded.

[0026] Among them, the first upper bridge arm switch N1, the second upper bridge arm switch N3, the third upper bridge arm switch N5, the first lower bridge arm switch N2, the second lower bridge arm switch N4, and the third lower bridge arm switch N6 can be N-type MOSFETs, and the first terminal of the first upper bridge arm switch N1, the second upper bridge arm switch N3, the third upper bridge arm switch N5, the first lower bridge arm switch N2, the second lower bridge arm switch N4, and the third lower bridge arm switch N6 can be the drain of the N-type MOSFET; the first upper bridge arm switch N1's first terminal... The second terminal of the second upper bridge arm switch N3, the second terminal of the third upper bridge arm switch N5, the second terminal of the first lower bridge arm switch N2, the second lower bridge arm switch N4, and the second terminal of the third lower bridge arm switch N6 can be the source of an N-type MOS transistor; the control terminal of the first upper bridge arm switch N1, the control terminal of the second upper bridge arm switch N3, the control terminal of the third upper bridge arm switch N5, the control terminal of the first lower bridge arm switch N2, the control terminal of the second lower bridge arm switch N4, and the control terminal of the third lower bridge arm switch N6 can be the gate of an N-type MOS transistor.

[0027] The first drive unit 140 can convert the PWM signal P1 into a PWM drive signal P2, and the driving capability of the PWM drive signal P2 is greater than that of the PWM signal P1. Under normal operating conditions, the first control unit 110 sends the PWM signal P1 to the first drive unit 140. The first drive unit 140 drives one upper bridge arm switch and one lower bridge arm switch in the bridge circuit 130 to conduct through the PWM drive signal P2, thus forming a loop with the current of the three-phase motor PMSM, allowing the three-phase motor PMSM to provide tactile feedback resistance. One upper bridge arm switch and one lower bridge arm switch are located in different branches of the bridge circuit 130. For example, when the first upper bridge arm switch N1 is on, the first lower bridge arm switch N2 is off, and the second lower bridge arm switch N4 or the third lower bridge arm switch N6 is on. The conduction status of the lower bridge arm switch when the second upper bridge arm switch N3 and the third upper bridge arm switch N5 are on is not described here.

[0028] The second drive unit 150 can convert the control signal EN1 into a drive signal EN2, the drive capability of which is greater than that of the control signal EN1. In the event of a fault, the drive signal EN2 can turn on one of the lower bridge arm switches in the unfaulted phase of the bridge circuit 130, creating a loop with the current of the three-phase motor PMSM, thereby allowing the three-phase motor PMSM to provide tactile feedback resistance. For example, the fault may include hardware faults other than those in the bridge circuit 130, such as the first control unit 110 or the first drive unit 140, or faults in the upper and lower bridge arm switches of the bridge circuit 130. When a hardware fault other than that in the bridge circuit 130 or a fault in the upper bridge arm switch of the bridge circuit 130 occurs, the drive signal EN2 can turn on any one of the lower bridge arm switches in the bridge circuit 130. When a fault occurs in the lower bridge arm switch of the bridge circuit 130, the drive signal EN2 can turn on any one of the unfaulted lower bridge arm switches in the bridge circuit 130.

[0029] According to the technical solution of the present invention, a first control unit, a second control unit, a bridge circuit, a first drive unit, and a second drive unit are included. The bridge circuit includes three upper bridge arm switches and three lower bridge arm switches, and the output terminal of the bridge circuit is connected to a three-phase motor. The first drive unit is connected to the control terminals of the three upper bridge arm switches, and both the first drive unit and the second drive unit are connected to the control terminals of the three lower bridge arm switches. The first control unit receives steering wheel angle and torque signals and outputs PWM signals to the first drive unit, and outputs control signals to the second drive unit; or the second control unit receives steering wheel angle and torque signals and outputs control signals to the second drive unit. During normal operation, the first drive unit drives the switches in the bridge circuit to turn on or off; when a fault occurs, the second drive unit drives the switches of the non-faulty phases of the three lower bridge arm switches to turn on or off, thereby driving the three-phase motor to provide tactile feedback resistance. In summary, compared to the completely redundant solution of the traditional steer-by-wire feel simulator circuit, the technical solution of this invention reduces one bridge circuit, simplifies the circuit structure, reduces costs, and makes the steer-by-wire feel simulator smaller, which is beneficial for installation on the vehicle.

[0030] Figure 2 is a schematic diagram of another steer-by-wire simulator circuit provided by an embodiment of the present invention. In some embodiments, the first drive unit 140 includes a switching transistor drive chip, and the second drive unit 150 includes a transistor drive circuit.

[0031] The switching transistor driver chip can convert the PWM signal P1 into a PWM drive signal P2, which drives the upper and lower bridge arm switching transistors in the bridge circuit 130 to turn on or off. The transistor driver circuit can convert the control signal EN1 into a drive signal EN2, which drives the lower bridge arm switching transistor in the bridge circuit 130 to turn on or off.

[0032] Referring again to Figure 2, in some embodiments, the transistor driving circuit includes a first transistor driving circuit 151, a second transistor driving circuit 152, and a third transistor driving circuit 153; the control terminals of the first transistor driving circuit 151, the second transistor driving circuit 152, and the third transistor driving circuit 153 are all connected to the first control unit 110 and the second control unit 120; the power supply terminals of the first transistor driving circuit 151, the second transistor driving circuit 152, and the third transistor driving circuit 153 are all connected to the power supply voltage VDD; the fixed potential terminals of the first transistor driving circuit 151, the second transistor driving circuit 152, and the third transistor driving circuit 153 are all connected to the power supply voltage VDD; All fixed potential terminals of transistor 53 are grounded to GND; the output terminal of the first transistor driver circuit 151 is connected to the control terminal of the first lower bridge arm switch transistor N2, the output terminal of the second transistor driver circuit 152 is connected to the control terminal of the second lower bridge arm switch transistor N4, and the output terminal of the third transistor driver circuit 153 is connected to the control terminal of the third lower bridge arm switch transistor N6; the first transistor driver circuit 151 is used to connect the control terminal of the first lower bridge arm switch transistor N2 to the power supply voltage VDD when it is turned on, the second transistor driver circuit 152 is used to connect the control terminal of the second lower bridge arm switch transistor N4 to the power supply voltage VDD when it is turned on, and the third transistor driver circuit 153 is used to connect the control terminal of the third lower bridge arm switch transistor N6 to the power supply voltage VDD when it is turned on.

[0033] The first control unit 110 can send a control signal EN1 to the transistor drive circuit, and the second control unit 120 can also send a control signal EN1 to the transistor drive circuit. The control signal EN1 can include the U-phase control signal EN1U, which is input to the control terminal of the first transistor drive circuit 151; the control signal EN1 can also include the V-phase control signal EN1V, which is input to the control terminal of the second transistor drive circuit 152; the control signal EN1 can also include the W-phase control signal EN1W, which is input to the control terminal of the third transistor drive circuit 153.

[0034] For example, the U-phase control signal EN1U, the V-phase control signal EN1V, and the W-phase control signal EN1W can all include high-level and low-level signals. Taking the first transistor driver circuit 151, the second transistor driver circuit 152, and the third transistor driver circuit 153 all being high-level signals and conducting as an example: When the U-phase control signal EN1U is high-level, the first transistor driver circuit 151 is turned on, and the control terminal of the first lower bridge arm switch N2 is connected to the power supply voltage VDD, which can be 5V. When the V-phase control signal EN1V is high-level, the second transistor driver circuit 152 is turned on, and the control terminal of the second lower bridge arm switch N4 is connected to the power supply voltage VDD. When the W-phase control signal EN1W is high-level, the third transistor driver circuit 153 is turned on, and the control terminal of the third lower bridge arm switch N6 is connected to the power supply voltage VDD.

[0035] Referring again to Figure 2, in some embodiments, the first transistor driving circuit 151 includes a first transistor Q1, a second transistor Q2, a first resistor R1, a second resistor R2, and a third resistor R3. The first terminal of the first resistor R1 serves as the control terminal of the first transistor driving circuit 151, and the second terminal of the first resistor R1 is connected to the control terminal of the first transistor Q1. The first terminal of the first transistor Q1 is grounded. The second terminal of the first transistor Q1 is connected to the first terminal of the second resistor R2. Both the second terminal of the second resistor R2 and the first terminal of the third resistor R3 are connected to the control terminals of the second transistor Q2. The second end of the third resistor R3 is connected to the first end of the second transistor Q2, and the first end of the second transistor Q3 is connected to the power supply voltage VDD; the second end of the second transistor Q2 serves as the output terminal of the first transistor driver circuit 151; the second transistor driver circuit 152 includes a third transistor Q3, a fourth transistor Q4, a fourth resistor R4, a fifth resistor R5, and a sixth resistor R6; the first end of the fourth resistor R4 serves as the control terminal of the second transistor driver circuit 152, and the second end of the fourth resistor R4 is connected to the control terminal of the third transistor Q3, while the first end of the third transistor Q3 is grounded; The second terminal of transistor Q3 is connected to the first terminal of the fifth resistor R5. The second terminals of the fifth resistor R5 and the first terminals of the sixth resistor R6 are both connected to the control terminals of the fourth transistor Q4. The second terminal of the sixth resistor R6 is connected to the first terminal of the fourth transistor Q4. The first terminal of the fourth transistor Q4 is connected to the power supply voltage VDD. The second terminal of the fourth transistor Q4 serves as the output terminal of the second transistor driver circuit 152. The third transistor driver circuit 153 includes the fifth transistor Q5, the sixth transistor Q6, the seventh resistor R7, the eighth resistor R8, and the ninth resistor R9. The second terminal of the seventh resistor R7... One end serves as the control terminal of the third transistor driver circuit 153. The second end of the seventh resistor R7 is connected to the control terminal of the fifth transistor Q5, and the first end of the fifth transistor Q5 is grounded. The second end of the fifth transistor Q5 is connected to the first end of the eighth resistor R8. The second end of the eighth resistor R8 and the first end of the ninth resistor R9 are both connected to the control terminal of the sixth transistor Q6. The second end of the ninth resistor R9 is connected to the first end of the sixth transistor Q6, and the first end of the sixth transistor Q6 is connected to the power supply voltage VDD. The second end of the sixth transistor Q6 serves as the output terminal of the third transistor driver circuit 153.

[0036] In this configuration, the first transistor Q1, the third transistor Q3, and the fifth transistor Q5 can be NPN transistors. The first terminal of the first transistor Q1, the first terminal of the third transistor Q3, and the first terminal of the fifth transistor Q5 can be the emitter of the NPN transistors. The second terminal of the first transistor Q1, the second terminal of the third transistor Q3, and the second terminal of the fifth transistor Q5 can be the collector of the NPN transistors. The control terminal of the first transistor Q1, the control terminal of the third transistor Q3, and the control terminal of the fifth transistor Q5 can be the base of the NPN transistors. The second transistor Q2, the fourth transistor Q4, and the sixth transistor Q6 can be PNP transistors. The first terminal of the second transistor Q2, the first terminal of the fourth transistor Q4, and the first terminal of the sixth transistor Q6 can be the emitter of the PNP transistors. The second terminal of the second transistor Q2, the second terminal of the fourth transistor Q4, and the second terminal of the sixth transistor Q6 can be the collector of the PNP transistors. The control terminal of the second transistor Q2, the control terminal of the fourth transistor Q4, and the control terminal of the sixth transistor Q6 can be the base of the PNP transistors.

[0037] For example, when the U-phase control signal EN1U input to the first terminal of the first resistor R1 is a high-level signal, the first transistor Q1 is turned on, the second transistor Q2 is turned on, and the voltage at the collector of the second transistor Q2 is pulled up to the power supply voltage VDD, so that the control terminal voltage of the first lower bridge arm switch N2 is the power supply voltage VDD; when the V-phase control signal EN1V input to the first terminal of the fourth resistor R4 is a high-level signal, the third transistor Q3 is turned on, the fourth transistor Q4 is turned on, and the voltage at the collector of the fourth transistor Q4 is pulled up to the power supply voltage VDD, so that the control terminal voltage of the second lower bridge arm switch N4 is the power supply voltage VDD; when the W-phase control signal EN1W input to the first terminal of the seventh resistor R7 is a high-level signal, the fifth transistor Q5 is turned on, the sixth transistor Q6 is turned on, and the voltage at the collector of the sixth transistor Q6 is pulled up to the power supply voltage VDD, so that the control terminal voltage of the third lower bridge arm switch N6 is the power supply voltage VDD.

[0038] The second driving circuit 150 is constructed using a first transistor Q1, a second transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3, a third transistor Q3, a fourth transistor Q4, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a fifth transistor Q5, a sixth transistor Q6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9. Compared to traditional technical solutions, this reduces the number of switching transistor drivers. The electronic components in the second driving circuit 150 can be entirely implemented using domestically produced mature semiconductor discrete devices, making supply and cost completely controllable and further reducing costs.

[0039] Figure 3 is a schematic diagram of the freewheeling circuit of a three-phase motor in the event of a bridge circuit failure according to an embodiment of the present invention. As shown in Figure 3, in some embodiments, the first control unit 110 or the second control unit 120 is used to output a first control signal to the second drive unit 150 when one of the three upper bridge arm switches is open-circuited, and the second drive unit 150 drives any one of the three lower bridge arm switches to turn on.

[0040] For example, taking the first upper bridge arm switch N1 of the bridge circuit 130 as an example of being open, the first control unit 110 or the second control unit 120 sends a control signal EN1 to the second drive circuit 150. One of the U-phase control signal EN1U, the V-phase control signal EN1V or the W-phase control signal EN1W in the control signal EN1 is the first control signal. The first control signal can be a high-level signal. For example, the U-phase control signal EN1U can be used as the first control signal, which turns on the first transistor drive circuit 151, thereby turning on the first lower bridge arm switch N2. The remaining switches in the bridge circuit 130 remain off. In Figure 3, the red lines represent current loops, and the arrows indicate the current direction. The current flows from the U-phase of the three-phase motor PMSM, through the first lower bridge arm switch N2, into ground GND, and then freewheels through the body diode of the second lower bridge arm switch N4 into the V-phase of the three-phase motor PMSM. It also freewheels through the body diode of the third lower bridge arm switch N6 into the W-phase of the three-phase motor PMSM, thus creating a current loop in the three-phase motor PMSM, allowing it to generate tactile feedback resistance. Alternatively, the V-phase control signal EN1V or the W-phase control signal EN1W can be used as the first control signal, which will not be elaborated further here.

[0041] It is understandable that when any upper bridge arm switch of the bridge circuit 130 is open, the three-phase motor PMSM can be made to provide tactile feedback resistance by controlling any lower bridge arm switch to be on. The open circuit situations of the other upper bridge arm switches will not be described here.

[0042] Figure 4 is a schematic diagram of the freewheeling circuit of a three-phase motor when a bridge circuit fault occurs, according to another embodiment of the present invention. As shown in Figure 4, in some embodiments, the first control unit 110 or the second control unit 120 is used to output a first control signal to the second drive unit 150 when one of the three lower bridge arm switches is open-circuited. The second drive unit 150 drives any one of the three lower bridge arm switches that is not open-circuited to conduct.

[0043] For example, taking the first lower bridge arm switch N2 of the bridge circuit 130 as an example with the circuit open, the first control unit 110 or the second control unit 120 sends a control signal EN1 to the second drive circuit 150. One of the V-phase control signal EN1V or the W-phase control signal EN1W in the control signal EN1 is the first control signal, which can be a high-level signal. For example, the V-phase control signal EN1V can be the first control signal, then the second transistor drive circuit 152 is turned on, thereby turning on the second lower bridge arm switch N4, while the other switches in the bridge circuit 130 remain open. In Figure 4, the red line represents the current loop, and the arrow indicates the current direction. That is, the current flows out from the V phase of the three-phase motor PMSM, flows into ground GND through the second lower bridge arm switch N4, and from ground GND through the body diode of the third lower bridge arm switch N6 to flow into the W phase of the three-phase motor PMSM. This makes the current of the three-phase motor PMSM form a loop, so that the three-phase motor PMSM can generate tactile feedback resistance. Alternatively, the W-phase control signal EN1W can be used as the first control signal, which will not be elaborated here.

[0044] It is understandable that when any one of the lower bridge arm switches of the bridge circuit 130 is open, the three-phase motor PMSM can be made to provide tactile feedback resistance by turning on any one of the other two lower bridge arm switches whose control bit has an open circuit fault.

[0045] Figure 5 is a schematic diagram of the freewheeling circuit of a three-phase motor in case of a bridge circuit failure according to another embodiment of the present invention. As shown in Figure 5, in some embodiments, the first control unit 110 or the second control unit 120 is used to output a second control signal to the second drive unit 150 when one of the three upper bridge arm switching transistors is short-circuited. The second drive unit 150 controls the three lower bridge arm switching transistors to turn off. The steering-by-wire feel simulator circuit freewheels through the body diode of the three upper bridge arm switching transistors that are not short-circuited, so as to form a current loop with the three-phase motor PMSM.

[0046] For example, taking the short circuit of the first upper bridge arm switch N1 in the bridge circuit 130 as an example, the first control unit 110 or the second control unit 120 sends a control signal EN1 to the second drive circuit 150. The U-phase control signal EN1U, the V-phase control signal EN1V, or the W-phase control signal EN1W in the control signal EN1 are all second control signals, which can be low-level signals. Then the first transistor drive circuit 151, the second transistor drive circuit 152, and the third transistor drive circuit 153 are all disconnected, thereby turning off the three lower bridge arm switches. In Figure 5, the red lines represent current loops, and the arrows indicate the direction of the current. That is, when the steering wheel is turned, the current flows out from the V and W phases of the three-phase motor PMSM, flows into the U phase of the three-phase motor PMSM through the first upper bridge arm switch N1, and freewheels through the body diodes of the second upper bridge arm switch N3 and the third upper bridge arm switch N5, respectively, so that the current of the three-phase motor PMSM forms a loop, allowing the three-phase motor PMSM to generate a tactile feedback resistance. It is understandable that the second upper bridge arm switch N3 or the third upper bridge arm switch N5 could also be short-circuited, which will not be elaborated here.

[0047] Figure 6 is a schematic diagram of the freewheeling circuit of a three-phase motor in case of a bridge circuit failure according to another embodiment of the present invention. As shown in Figure 6, in some embodiments, the first control unit 110 is used to output a PWM signal to the first drive unit 140 when one of the three lower bridge arm switching transistors is short-circuited. The first drive unit 140 controls the three upper bridge arm switching transistors to turn off. The steering feel simulator circuit freewheels through the body diode of the three lower bridge arm switching transistors that are not short-circuited to form a current loop with the three-phase motor.

[0048] For example, taking the short circuit of the first lower bridge arm switch N2 in the bridge circuit 130 as an example, the first control unit 110 sends a PWM signal P1 to the first drive circuit 140. The PWM signal P1 can be a low-level signal, causing all three upper bridge arm switches to turn off. In Figure 6, the red line represents the current loop, and the arrow indicates the current direction. That is, when the steering wheel is turned, the current flows out from the U phase of the three-phase motor PMSM, flows into ground GND through the first lower bridge arm switch N2, and from GND it flows through the body diode of the second lower bridge arm switch N4 into the V phase of the three-phase motor PMSM, and through the body diode of the third lower bridge arm switch N6 into the W phase of the three-phase motor PMSM. This makes the current of the three-phase motor PMSM form a loop, so that the three-phase motor PMSM can generate a tactile feedback resistance. It can be understood that the second lower bridge arm switch N4 or the third lower bridge arm switch N6 can also be short-circuited, which will not be elaborated here.

[0049] Figure 7 is a schematic diagram of a freewheeling circuit for a three-phase motor in the event of a non-bridge circuit failure according to an embodiment of the present invention. As shown in Figure 7, when a component other than the bridge circuit 130 fails, such as the first control unit 110 or the second control unit 120, a first control signal is output to the second drive unit 150 through the first control unit 110 or the second control unit 120 on the side that has not failed. The second drive unit 150 then drives any one of the three lower bridge arm switches that has not experienced an open circuit failure to conduct.

[0050] For example, taking the failure of the first control unit 110 as an example, the second control unit 120 sends a control signal EN1 to the second drive circuit 150. One of the U-phase control signal EN1U, V-phase control signal EN1V or W-phase control signal EN1W in the control signal EN1 is the first control signal, which can be a high-level signal. For example, the U-phase control signal EN1U can be used as the first control signal, which turns on the first transistor drive circuit 151, thereby turning on the first lower bridge arm switch N2. The remaining switches in the bridge circuit 130 remain off. In Figure 7, the red lines represent current loops, and the arrows indicate the current direction. The current flows from the U-phase of the three-phase motor PMSM, through the first lower bridge arm switch N2, into ground GND, and then freewheels through the body diode of the second lower bridge arm switch N4 into the V-phase of the three-phase motor PMSM. It also freewheels through the body diode of the third lower bridge arm switch N6 into the W-phase of the three-phase motor PMSM, thus creating a current loop in the three-phase motor PMSM, allowing it to generate tactile feedback resistance. Alternatively, the V-phase control signal EN1V or the W-phase control signal EN1W can be used as the first control signal, which will not be elaborated further here.

[0051] Based on any of the above embodiments, Figure 8 is a schematic diagram of another steer-by-wire feel simulator circuit provided by an embodiment of the present invention. As shown in Figure 8, the steer-by-wire feel simulator circuit of the present invention further includes a first power management unit 160 and a second power management unit 170; both the first power management unit 160 and the second power management unit 170 are connected to the power supply terminal of the bridge circuit and are used to supply power to the switching transistors in the bridge circuit.

[0052] The first power management unit 160 can be connected to the first control unit 110 and the first drive unit 140, and can provide operating voltage to the first control unit 110 and the first drive unit 140. The second power management unit 170 can be connected to the second control unit 120, and can provide operating voltage to the second control unit 120. PWR can represent the positive terminal of the power supply interface, and GND can represent the negative terminal of the power supply interface. The first power management unit 160 and the second power management unit 170 can communicate with each other through the first control unit 110 and the second control unit 120. When the first power management unit 160 fails, the second power management unit 170 will provide power, or when the second power management unit 170 fails, the first power management unit 160 will provide power.

[0053] The present invention also provides a vehicle including a steer-by-wire feel simulator circuit according to any embodiment of the present invention, and possessing the beneficial effects of the steer-by-wire feel simulator circuit according to any embodiment.

[0054] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0055] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A steer-by-wire feel simulator circuit, characterized in that, include: The system comprises a first control unit, a second control unit, a bridge circuit, a first drive unit, and a second drive unit. The bridge circuit includes three upper bridge arm switches and three lower bridge arm switches, and the output of the bridge circuit is connected to a three-phase motor. The first drive unit is connected to the control terminals of the three upper bridge arm switches, and both the first drive unit and the second drive unit are connected to the control terminals of the three lower bridge arm switches. The first control unit receives steering wheel angle and torque signals and outputs PWM signals to the first drive unit, and outputs control signals to the second drive unit. The second control unit receives steering wheel angle and torque signals and outputs control signals to the second drive unit. The first drive unit drives the switches in the bridge circuit to turn on or off during normal operation. The second drive unit drives the switches of the non-faulty phases of the three lower bridge arm switches to turn on or off during a fault, so as to drive the three-phase motor to provide tactile feedback resistance.

2. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, The first driving unit includes a switching transistor driving chip, and the second driving unit includes a transistor driving circuit.

3. The steer-by-wire feel simulator circuit according to claim 2, characterized in that, The transistor driving circuit includes a first transistor driving circuit, a second transistor driving circuit, and a third transistor driving circuit; the control terminals of the first transistor driving circuit, the second transistor driving circuit, and the third transistor driving circuit are all connected to the first control unit and the second control unit; the power supply terminals of the first transistor driving circuit, the second transistor driving circuit, and the third transistor driving circuit are all connected to a power supply voltage; The fixed potential terminals of the first transistor driving circuit, the second transistor driving circuit, and the third transistor driving circuit are all grounded. The output terminal of the first transistor driving circuit is connected to the control terminal of the first lower bridge arm switch, the output terminal of the second transistor driving circuit is connected to the control terminal of the second lower bridge arm switch, and the output terminal of the third transistor driving circuit is connected to the control terminal of the third lower bridge arm switch. When the first transistor driving circuit is turned on, it connects the control terminal of the first lower bridge arm switch to the power supply voltage. When the second transistor driving circuit is turned on, it connects the control terminal of the second lower bridge arm switch to the power supply voltage. When the third transistor driving circuit is turned on, it connects the control terminal of the third lower bridge arm switch to the power supply voltage.

4. The steer-by-wire feel simulator circuit according to claim 3, characterized in that, The first transistor driving circuit includes a first transistor, a second transistor, a first resistor, a second resistor, and a third resistor. The first terminal of the first resistor serves as the control terminal of the first transistor driving circuit, and the second terminal of the first resistor is connected to the control terminal of the first transistor. The first terminal of the first transistor is grounded. The second terminal of the first transistor is connected to the first terminal of the second resistor. The second terminals of the second resistor and the first terminals of the third resistor are both connected to the control terminals of the second transistor. The second terminal of the third resistor is connected to the first terminal of the second transistor, and the first terminal of the second transistor is connected to a power supply voltage. The second terminal of the second transistor serves as the output terminal of the first transistor driving circuit. The second transistor driving circuit includes a third transistor, a fourth transistor, a fourth resistor, a fifth resistor, and a sixth resistor. The first terminal of the fourth resistor serves as the control terminal of the second transistor driving circuit, and the second terminal of the fourth resistor is connected to the control terminal of the third transistor. The first terminal of the third transistor is grounded. The second terminal of the third transistor is connected to... The first terminal of the fifth resistor is connected to the control terminal of the fourth transistor, and the second terminal of the fifth resistor and the first terminal of the sixth resistor are both connected to the control terminal of the fourth transistor. The second terminal of the sixth resistor is connected to the first terminal of the fourth transistor, and the first terminal of the fourth transistor is connected to a power supply voltage. The second terminal of the fourth transistor serves as the output terminal of the second transistor driving circuit. The third transistor driving circuit includes a fifth transistor, a sixth transistor, a seventh resistor, an eighth resistor, and a ninth resistor. The first terminal of the seventh resistor serves as the control terminal of the third transistor driving circuit, and the second terminal of the seventh resistor is connected to the control terminal of the fifth transistor. The first terminal of the fifth transistor is grounded. The second terminal of the fifth transistor is connected to the first terminal of the eighth resistor, and the second terminal of the eighth resistor and the first terminal of the ninth resistor are both connected to the control terminal of the sixth transistor. The second terminal of the ninth resistor is connected to the first terminal of the sixth transistor, and the first terminal of the sixth transistor is connected to a power supply voltage. The second terminal of the sixth transistor serves as the output terminal of the third transistor driving circuit.

5. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, The first control unit or the second control unit is used to output a first control signal to the second drive unit when one of the three upper bridge arm switching transistors is open-circuited, and the second drive unit drives any one of the three lower bridge arm switching transistors to turn on.

6. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, The first control unit or the second control unit is used to output a first control signal to the second drive unit when one of the three lower bridge arm switching transistors is open-circuited, and the second drive unit drives any one of the three lower bridge arm switching transistors that is not open-circuited to turn on.

7. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, The first control unit or the second control unit is used to output a second control signal to the second drive unit when one of the three upper bridge arm switching transistors is short-circuited. The second drive unit controls the three lower bridge arm switching transistors to turn off. The steer-by-wire feel simulator circuit freewheels through the body diode of the three upper bridge arm switching transistors that are not short-circuited, so as to form a current loop with the three-phase motor.

8. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, The first control unit is used to output a PWM signal to the first drive unit when one of the three lower bridge arm switching transistors is short-circuited. The first drive unit controls the three upper bridge arm switching transistors to turn off. The steer-by-wire feel simulator circuit uses the body diode of the three lower bridge arm switching transistors that are not short-circuited to provide freewheeling current and form a current loop with the three-phase motor.

9. The steer-by-wire feel simulator circuit according to claim 1, characterized in that, It also includes a first power management unit and a second power management unit; both the first power management unit and the second power management unit are connected to the power supply terminal of the bridge circuit and are used to supply power to the switching transistors in the bridge circuit.

10. A vehicle, characterized in that, Includes the steer-by-wire feel simulator circuit as described in any one of claims 1-9.

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