Electromechanical system and configuration method of electromechanical system distribution architecture

Abstract

The application provides an electromechanical system and a configuration method of an electromechanical system distribution architecture, which is applied to the technical field of electromechanical systems and aims to solve the problems of redundant wiring of the electromechanical system, a too-long control closed loop path, and mutual coupling of high and low security level functions. In the electromechanical system, there is relative motion between components, including: at least two control units; the control units are divided according to at least one of the relative motion relationship between the components in the electromechanical system, the functional coupling relationship between the components, and the security importance of the components; wherein the driving signals of all direct drive components are generated inside the corresponding control units, and no separate motor driving signals and sensor sampling signals are transmitted across the relative motion area of the components.

Description

Technical Field

[0001] This application relates to the field of electromechanical systems technology, and in particular to an electromechanical system and a configuration method for a distributed architecture of an electromechanical system. Background Technology

[0002] With the continuous development of vehicle technology, there are more and more variable configuration mechanisms, flexible interactive components and multi-degree-of-freedom electromechanical actuators in vehicles. The increase in these moving parts, and the fact that these parts do not always maintain a fixed spatial relationship, but rather undergo continuous or periodic relative displacement as the mechanism moves, makes the wiring, component placement and so on inside the electromechanical system increasingly complex.

[0003] In related technologies, the division of controller domains (control units) is based on the assembly to which the component belongs, the product function category, or the physical installation location. A group of related components (multiple actuators, multiple sensors, etc.) are connected to a single controller, or the components are roughly divided into several control units based on macroscopic functions. This division method can easily lead to problems such as redundant wiring in electromechanical systems, excessively long control closed-loop paths, and mutual coupling of functions with high and low safety levels. Summary of the Invention

[0004] The purpose of this application is to provide a configuration method for an electromechanical system and its distributed architecture, which aims to solve the problems of redundant wiring, excessively long control closed-loop paths, and mutual coupling of high and low security level functions in electromechanical systems.

[0005] Firstly, an electromechanical system is provided, in which there is relative motion between the components. The electromechanical system includes at least two control units, which are configured according to at least one of the following: the relative motion relationship between the components, the functional coupling relationship between the components, and the safety importance of each component. The drive signals for all directly driven components are generated internally by the corresponding control unit, and no separate motor drive signals or sensor sampling signals are transmitted across the relative motion regions of the components.

[0006] Beneficial Effects: Due to relative motion between components, improper component wiring and control partitioning can lead to issues such as wire harness pull and wear across motion zones, and signal transmission delay fluctuations during component reciprocating motion. For electromechanical systems with relative motion, this application divides the system into at least two control units based on at least one dimension: relative motion relationship between components, functional coupling relationship, and safety importance. This accurately defines the boundaries of the control units, shortens the links between components within the control unit, simplifies the hardware wiring of the electromechanical system, avoids line redundancy, reduces cross-domain wire harness loss and signal interference, and achieves decoupling of high and low safety functions at the architectural level. Furthermore, the drive signals for the components are generated internally by the corresponding control units, enabling localized closed-loop control of the drive signals. This shortens the control link length, avoids delays and attenuation caused by long-distance signal transmission, and prevents the transmission of separate motor drive signals and sensor sampling signals across relative motion zones. This avoids wire harness bending and wear and signal fluctuation interference caused by relative motion, thereby improving the real-time performance and stability of the closed-loop control within the control unit.

[0007] Optionally, relative motion relationships are used to indicate the moving body level or relative displacement level to which the component belongs.

[0008] Optionally, components belonging to the same moving body or the same relative displacement level can be configured in the same control unit.

[0009] Optionally, the functional coupling relationship is used to indicate the sensing and execution link of the function to which the component belongs; wherein, the sensing and execution link is a closed-loop control path that completes the full control function and consists of at least one sensor, at least one controller and at least one actuator connected in sequence.

[0010] Optionally, components belonging to the same sensing and execution chain can be configured within the same control unit.

[0011] Optionally, safety importance is used to indicate the level of failure impact on the function to which the component belongs.

[0012] Optionally, components with a failure impact level higher than a preset level can be configured in a separate control unit.

[0013] Optionally, the control unit includes at least one of the following: at least one first control unit, including a set of components that satisfy at least one of the following conditions: the closed-loop control cycle is less than or equal to a preset real-time threshold, the failure impact level is greater than a preset level, or the signal error sensitivity is greater than or equal to a preset sensitivity threshold; the closed-loop control cycle is used to indicate the time required for the sensing and execution link to complete one complete signal acquisition, processing, and drive output; the signal error sensitivity is used to indicate the degree of influence of errors, delays, and noise on the output deviation from the expected value in the sensing and execution link; at least one second control unit, mounted on a corresponding local motion mechanism, wherein the local motion mechanism is the smallest mechanical unit in the electromechanical system capable of independently generating relative motion.

[0014] Optionally, the control unit further includes: at least one third control unit, the function of which includes at least one of the following: all controlled components are arranged in a non-moving area or a preset low relative displacement area, the preset low relative displacement area is used to indicate that the relative displacement between any two components in the area is less than a preset relative displacement threshold, or the displacement of the component itself is less than a preset self-displacement threshold; the corresponding safety level is lower than the safety level corresponding to the first control unit.

[0015] Optionally, within the same control unit, components with response time requirements and / or components that perform the same function are located on the same moving body or within a preset low relative displacement region.

[0016] Optionally, the electromechanical system also includes: an upper-level coordination unit, which is communicatively connected to each control unit; the upper-level coordination unit is used to implement redundancy management of each control unit, coordinate the timing between each control unit, and start or wake up each control unit; each control unit is used to drive the corresponding component to perform actions according to the instructions sent by the upper-level coordination unit.

[0017] Optionally, when the electromechanical system includes an upper-level coordination unit, the upper-level coordination unit sends control signals to each control unit. The control signals include mode commands and enable commands, but do not include drive signals for directly driven components; the drive signals are generated by the corresponding control unit.

[0018] Optionally, when the electromechanical system does not include an upper-level coordination unit, the drive signals of the components are generated by the corresponding control units; wherein, the communication signals between the two control units include status signals and coordination commands, but do not include drive signals.

[0019] Optionally, the electromechanical system also includes: a communication link and a power supply link; the upper-level coordination unit is connected to each control unit through the communication link; no communication link is set between the control units; each control unit is connected to the power supply through the power supply link; wherein, the communication link and the power supply link are determined based on a preset line simplification principle; the preset line simplification principle is used to indicate the reduction of wiring harness crossings between different control units.

[0020] Optionally, the electromechanical system also includes: a redundant power supply module, a redundant acquisition module, and a consistency diagnostic module; the redundant power supply module is used to provide redundant power input to the first control unit; the redundant acquisition module is used to provide redundant signal acquisition paths to the first control unit; and the consistency diagnostic module is used to perform consistency verification of the power supply status and / or acquisition status for the first control unit.

[0021] Optional electromechanical systems include: foldable steering wheel, robot joints, movable display terminal, retractable human-machine interface, medical motion components, or industrial actuators.

[0022] Optionally, when the electromechanical system is a foldable steering wheel, the first control unit is a feel control unit, the second control unit is a folding control unit, and the third control unit is an additional component control unit.

[0023] Optionally, the haptic control unit includes at least one of the following: haptic controller, haptic motor, position sensor, and angle sensor; the folding control unit includes at least one of the following: steering wheel switch controller, folding adjustment motor, interactive component, and status sensor; the add-on component control unit includes at least one of the following: accessory controller, horizontal storage motor, pitch adjustment motor, angle adjustment motor, flip cover motor, physical buttons for steering wheel function control, and indicator unit for steering wheel function control.

[0024] Optionally, the hand-feel controller, hand-feel motor, position sensor, and angle sensor are all located within the steering wheel body or a preset relative displacement area; the folding actuator and interactive components are located within the first area; the first area is adjacent to the steering wheel switch controller; the location of each component within the additional component control unit is determined based on the movement range and safety level of each component.

[0025] Optionally, the foldable steering wheel further includes: a steering wheel upper coordination unit; the steering wheel upper coordination unit is connected to the feel control unit, the folding control unit, and the additional component control unit respectively; the steering wheel upper coordination unit is used to perform at least one of the following functions: allowing the foldable steering wheel to move; allowing entry into a preset folding posture; restricting the movement of the control unit; and activating a degradation strategy, the degradation strategy being used to instruct the foldable steering wheel to be controlled based on the redundant module, or to control the vehicle to decelerate and stop.

[0026] Optionally, the foldable steering wheel also includes: a communication link and a power supply link; the feel control unit, the folding control unit, and the add-on component control unit are respectively connected to the upper coordination unit of the steering wheel via the communication link; no communication link is provided between the feel control unit, the folding control unit, and the add-on component control unit; the feel control unit, the folding control unit, and the add-on component control unit are respectively connected to the power supply via the power supply link.

[0027] Optionally, the foldable steering wheel may also include at least one of the following: a redundant power supply module, a redundant acquisition module, and a consistency diagnostic module; the redundant power supply module is used to provide redundant power input to the feel control unit; the redundant acquisition module is used to provide redundant signal acquisition paths to the feel control unit; and the consistency diagnostic module is used to perform consistency verification of the power supply status and / or acquisition status for the feel control unit.

[0028] Optionally, the redundant power supply module includes: a main power supply link and a backup power supply link; the redundant acquisition module includes: two position / angle acquisition paths and two position / angle sensors; the consistency diagnosis module is used to determine whether to switch, block abnormal channels or enter a controlled degradation mode based on the power supply status and / or acquisition status.

[0029] Secondly, a method for configuring a distributed architecture for an electromechanical system is also provided, wherein there is relative motion between the components in the electromechanical system; the method includes: dividing the electromechanical system into at least two control units based on at least one of the relative motion relationship between the components, the functional coupling relationship between the components, and the safety importance of the components; and configuring the distributed architecture of the electromechanical system based on the at least two control units.

[0030] Optionally, relative motion relationship is used to indicate the moving body level or relative displacement level to which the component belongs; functional coupling relationship is used to indicate the perception and execution link of the function to which the component belongs; safety importance is used to indicate the failure impact level of the component function.

[0031] Optionally, based on at least one of the relative motion relationship between components in the electromechanical system, the functional coupling relationship between components, and the safety importance of each component, the electromechanical system is divided into at least two control units, including: configuring components belonging to the same moving body or the same relative displacement level in the same control unit based on the relative motion relationship; and / or configuring components belonging to the same sensing and execution link in the same control unit based on the functional coupling relationship; and / or configuring components with a failure impact level higher than a preset level in a separate control unit based on the safety importance.

[0032] Optionally, the above method further includes: setting components with response time requirements and / or components that perform the same function as the same moving body or setting them in a preset low relative displacement region; the preset low relative displacement region means that the relative displacement between any two components in the region is less than a preset relative displacement threshold, or that the displacement of the component itself is less than a preset self-displacement threshold.

[0033] Thirdly, an electronic device is also provided, comprising: a processor and a memory configured to store processor-executable instructions; wherein the processor is configured to execute the instructions to implement any of the optional electromechanical system distributed architecture configuration methods of the second aspect above.

[0034] Fourthly, a computer-readable storage medium is provided, on which instructions are stored, which, when executed by a device, enable the device to perform any of the optional electromechanical system distributed architecture configuration methods described in the second aspect above.

[0035] Fifthly, a vehicle is also provided, comprising: the electromechanical system of the first aspect, or the electronic equipment of the third aspect.

[0036] Sixthly, a computer program product is also provided, the computer program product including computer instructions that, when executed on a processor of a device, enable the device to perform a configuration method of an electromechanical system distributed architecture as optionally described in the second aspect above. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the structure of an electromechanical system provided in this application (I); Figure 2 A schematic diagram (II) of an electromechanical system provided for an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a foldable steering wheel provided in an embodiment of this application; Figure 4 A schematic diagram of the power supply and communication architecture of a foldable steering wheel provided for an embodiment of this application; Figure 5 A flowchart (I) illustrating a configuration method for a distributed architecture of an electromechanical system provided in this application embodiment; Figure 6 A schematic diagram of a configuration method for a distributed architecture of an electromechanical system provided in an embodiment of this application; Figure 7 A schematic flowchart (II) of a configuration method for a distributed architecture of an electromechanical system provided in this application embodiment; Figure 8 A schematic diagram of the configuration device for a distributed architecture of an electromechanical system provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0039] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0040] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0041] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0042] With the continuous development of vehicle technology, there are more and more variable configuration mechanisms, flexible interactive components and multi-degree-of-freedom electromechanical actuators in vehicles. The increase in these moving parts, and the fact that these parts do not always maintain a fixed spatial relationship, but rather undergo continuous or periodic relative displacement as the mechanism moves, makes the wiring, component placement and so on inside the electromechanical system increasingly complex.

[0043] In related technologies, the division of controller domains (control units) is based on the assembly to which the component belongs, the product function category, or the physical installation location. A group of related components (multiple actuators, multiple sensors, etc.) are connected to a single controller, or the components are roughly divided into several control units based on macroscopic functions. This division method is prone to problems such as redundant wiring, excessively long control closed-loop paths, and mutual coupling of functions with high and low safety levels.

[0044] Based on this, this application provides an electromechanical system and a configuration method for its distributed architecture. Due to relative motion between components, if component wiring and control partitioning are not properly implemented, issues such as cross-motion area wiring harness wear and signal transmission delay fluctuations may occur during component reciprocating motion. For electromechanical systems with relative motion, this application divides the system into at least two control units based on at least one dimension: relative motion relationship between components, functional coupling relationship, and safety importance. This accurately defines the boundaries of the control units, shortens the links between components within the control units, simplifies the hardware wiring of the electromechanical system, avoids line redundancy, reduces cross-domain wiring harness loss and signal interference, and achieves decoupling of high and low safety functions at the architectural level, thereby improving the real-time performance and stability of closed-loop control within the control unit.

[0045] In some embodiments, this application provides an electromechanical system, such as Figure 1 As shown, the electromechanical system 10 includes at least two control units 101. There is relative motion between the components in the electromechanical system 10.

[0046] The electromechanical system 10 is a device that internally exhibits rotation, sliding, folding, swinging, telescoping, or combined motion relationships. For example, the electromechanical system 10 can be a foldable steering wheel, a robot joint, a movable display terminal, a retractable human-machine interface, a medical motion component, or an industrial actuator module. In this application, a foldable steering wheel is used as an example to describe the electromechanical system in detail, which does not constitute a limitation on this solution.

[0047] The control unit 101 is a module that integrates sensors and actuators according to functional partitions and can independently complete control. In this application, the control unit 101 can be understood as a control domain or functional domain, used for centralized management and closed-loop control of the components required to realize the corresponding function. For example, the actuators, sensing and detection components and signal interaction links corresponding to the same controller can be integrated and divided into the same control unit.

[0048] In one implementation, the control unit 101 is formed according to at least one of the following: the relative motion relationship between the components in the electromechanical system 10, the functional coupling relationship between the components, and the safety importance of each component.

[0049] The relative motion relationship is used to indicate the motion body level or relative displacement level to which a component belongs. The motion body level indicates whether a component is structurally an independent motion body; components within the same motion body move synchronously with the mechanism, maintaining consistent overall posture and position. The relative displacement level indicates the magnitude of the relative displacement between components during their movement, distinguishing whether a component is in a low relative displacement region or a high relative displacement range. Specifically, the relative motion relationship is used to determine whether components are within the same motion body, a low relative displacement region, or a high relative displacement range. For example, in a foldable steering wheel, the feel controller and angle sensor are located on the same drive body.

[0050] Functional coupling is used to indicate the perception-execution link of a component's function. The perception-execution link is a closed-loop control path that completes a full control function, consisting of at least one sensor, at least one controller, and at least one actuator connected in sequence. Specifically, functional coupling can indicate whether a high-real-time, localized closed-loop control relationship needs to be formed between a certain actuator, a certain sensor, and the control logic of a certain function of the electromechanical system. For example, the steering angle signal collected by the steering wheel angle sensor is directly used as the control input for starting, stopping, and adjusting the speed of the folding drive motor. The sensor and the drive motor control logic are bound together and their states are mutually constrained, thus forming a functional coupling relationship.

[0051] Safety importance indicates the level of impact of a component's function failure. For example, in a vehicle, the failure impact level can be represented by the Automotive Safety Integrity Level (ASIL). The tactile feedback function in a folding steering wheel has the highest ASIL. Specifically, safety importance can refer to the degree of impact of different links on system functions, user interaction, safety status, and degradation capabilities after failure. It is expressed as the degree of impact of component failure on the safety of the electromechanical system. For example, the steering wheel tactile feedback module, as a steering torque feedback component, is used to simulate the steering feel on the road surface and works with the steer-by-wire system to adjust the steering torque. Once it fails, it may cause steering damping disorder, loss of steering wheel weight control, and other situations, thereby causing driving safety hazards. Therefore, the safety importance of the tactile feedback module in the steering wheel system is relatively high.

[0052] Specifically, when dividing the control unit, for electromechanical systems with simple structures and only relative motion, the division can be based on any one of the three factors, mainly the relative motion relationship.

[0053] When an electromechanical system has many internal components and a complex structure, the selection can be based on multiple factors from the three components. For example, consider the hand-feed motor and angle sensor in a steering wheel assembly: there is relative motion between them, and they both correspond to the function of "simulating steering wheel steering feel" (there is a functional coupling relationship). Furthermore, the failure of the hand-feed motor may affect the driver's perception of the road surface, making it of high safety importance. Based on multiple factors from the above three components, the hand-feed motor and angle sensor can be configured in the same control unit.

[0054] Understandably, since relative motion relationships indicate physical relative displacement or rotation between components, they are typically used first to determine whether components that are kinematically related are suitable to belong to the same control unit. Based on this, functional coupling relationships are then considered to determine functional relevance, and safety importance is taken into account to determine whether independent isolation is necessary. This results in a control unit partitioning strategy that balances physical structure, functional logic, and safety levels.

[0055] In some implementations of this application, after dividing the electromechanical system into at least two control units, the drive signals of all directly driven components are generated within the corresponding control unit, and no separate motor drive signals and sensor sampling signals are transmitted across the relative motion areas of the components.

[0056] The drive signals for all directly driven components are generated and represented within the corresponding control unit. The drive (current / voltage) signal for each actuator (motor, electromagnet, etc.) must be generated by the control module (circuit) within the same control unit as it and must not come from other control units. This achieves an extremely short path for the drive signal from generation to execution, reduces signal transmission delay, and improves the actuator's response speed.

[0057] The relative motion area of ​​components refers to the area where components exhibit relative motion (rotation, sliding, oscillation, etc.), such as the area between the motor and position sensor in the feel control unit of a folding steering wheel. It can also represent the physical boundary area between components that exhibit relative motion and are associated with different control units, such as the area between the feel control unit and the folding control unit in a folding steering wheel.

[0058] Transmitting separate motor drive signals and sensor sampling signals across the relative motion area of ​​components means that the wiring harness passing through the relative motion area of ​​components is not allowed to contain any wires specifically for transmitting motor drive current, nor is it allowed to contain any wires specifically for transmitting analog / digital sampling signals from sensors. Only power lines and communication lines (such as DC power supply and communication buses) are permitted to cross these areas. This avoids the need for drive and sampling wiring harnesses crossing the motion area from an architectural perspective, reduces wiring harness bending and wear, simplifies wiring harness design, and improves the reliability and safety of the electromechanical system.

[0059] Therefore, due to the relative motion between components, if the component wiring and control partitioning are not reasonable, problems such as wire harness pulling and wear across motion areas and signal transmission delay fluctuations may occur when components reciprocate. For electromechanical systems with relative motion, this application divides the system into at least two control units based on at least one of the following dimensions: relative motion relationship between components, functional coupling relationship, and safety importance. This can accurately define the boundaries of the control units, shorten the links between components within the control units, simplify the hardware wiring of the electromechanical system, avoid line redundancy, reduce cross-domain wire harness loss and signal interference, and achieve decoupling of high and low safety functions at the architectural level. In addition, the drive signals of the components are generated internally by the corresponding control units, which can realize localized closed-loop control of the drive signals, shorten the control link length, avoid delays and attenuation caused by long-distance signal transmission, and prevent the transmission of separate motor drive signals and sensor sampling signals across the relative motion areas of components. This can avoid wire harness bending and wear and signal fluctuation interference caused by relative motion, thereby improving the real-time performance and stability of the closed-loop control within the control unit.

[0060] Understandably, this architecture, by taking into account the impact of the mechanical movement itself on the control boundary, achieves local functions in a nearby closed loop and streamlines cross-domain links. This not only improves the rationality of the system structure but also compresses the content transmitted across motion segments, ultimately leading to a reduction in the size of the connection assembly, improved reliability, and cost optimization. It also makes it easier to form platform-based and portable solutions.

[0061] In some embodiments, within an electromechanical system, components belonging to the same moving body or the same relative displacement level can be configured within the same control unit. The implementation logic is as follows: sensors and actuators belonging to the same moving body or the same relative displacement level can be configured to move synchronously with the moving carrier, thereby shortening the wiring harness and control link and avoiding wiring redundancy caused by motion pulling.

[0062] For example, during the steering wheel folding action, the motor and sensor rotate relative to each other along with the shaft. Since they have a relative motion relationship, they can be assigned to the same control unit. The sensor collects signals and sends them directly to the drive motor in the same domain, shortening the signal line and avoiding the mechanism's movement from pulling on the long wiring harness.

[0063] In an electromechanical system, components belonging to the same sensing and execution link can be configured within the same control unit. The implementation logic is as follows: components belonging to the same sensing and execution link have functional logic linkages and signal dependencies. These components may require high real-time and localized closed-loop control. Integrating these components into a single control unit eliminates the need for signal forwarding across controllers, thereby improving the real-time performance of the control.

[0064] For example, in the steering wheel, the folding angle sensor and the steering wheel folding drive motor are highly coupled. The sensor collects the rotation angle data of the shaft in real time, and the collected signal is directly used as the control input for the drive motor to rotate forward and backward, start and stop, and adjust speed. The control links of the two are deeply bound and aggregated into the same second control unit to realize local closed-loop calculation, eliminating the cross-domain bus interaction delay and ensuring that the folding action responds instantly to the angle signal.

[0065] In an electromechanical system, components with a failure impact level higher than a preset level are configured in a separate control unit. The implementation logic is as follows: high-safety-level components require independent control and do not share a controller with low-safety-level components. Based on the safety importance of the component, it is determined whether the component needs to occupy a dedicated control domain, thereby achieving hardware isolation between high and low safety levels and preventing the failure of ordinary components from affecting safety components.

[0066] For example, the safety of the feel module is of high importance, so it has an independent control unit and does not share a controller with other steering wheel components.

[0067] It should be understood that dividing the control unit into the above three dimensions can solve the problems caused by the existing technology's rough partitioning based on installation location, such as excessively long links, deep coupling of high and low security functions, and complicated wiring.

[0068] In some embodiments, such as Figure 2 As shown, the control unit 101 includes at least one of the following: At least one first control unit 1011 includes a set of components that satisfy at least one of the following conditions: the closed-loop control cycle is less than or equal to a preset real-time threshold, the failure impact level is greater than a preset level, or the signal error sensitivity is greater than or equal to a preset sensitivity threshold.

[0069] At least one second control unit 1012 is mounted on a corresponding local motion mechanism, which is the smallest mechanical unit in the electromechanical system capable of independently generating relative motion.

[0070] The closed-loop control cycle is used to indicate the time required for the perception and execution link to complete a full signal acquisition, processing and drive output. The smaller the closed-loop control cycle, the faster the control link needs to respond. For example, the steering wheel feel control unit needs to respond in real time, so the closed-loop control cycle is short, while the closed-loop control cycle of auxiliary functions such as buttons and ambient lights is long.

[0071] Failure impact level is used to characterize the degree of impact of component failure or functional abnormality on the operational safety of the entire electromechanical system or personal safety. For example, in vehicles, there are functional safety levels. For a folding steering wheel, the functional safety level of the tactile function is greater than that of the steering wheel folding and storage function and the accessory lighting function.

[0072] Signal error sensitivity indicates the degree to which errors, delays, and noise cause the output to deviate from the expected value in the sensing and execution chain. The higher the sensitivity, the greater the impact and the more likely it is to malfunction. For example, angle sensors have relatively high sensitivity, while ambient lights and buttons have lower sensitivity and relatively stable operation.

[0073] A closed-loop control cycle less than or equal to a preset real-time threshold indicates that the component's closed-loop control requires high response speed and a short control cycle, with strict constraints on signal transmission delay, necessitating independent control. A failure impact level greater than a preset level indicates that component failure would directly cause safety hazards, requiring independent control. A signal error sensitivity greater than or equal to a preset sensitivity threshold indicates that the component is sensitive to signal disturbances, voltage fluctuations, and external interference, and is highly susceptible to malfunctions due to faults in surrounding circuits, requiring independent control.

[0074] For example, in a foldable steering wheel with drive-by-wire, the real-time performance of the hand-feed sensor and the hand-feed actuator is crucial: the steering torque signal requires millisecond-level closed-loop feedback, the control cycle is extremely short, and the real-time indicators are greater than the preset real-time threshold. Therefore, the hand-feed sensor and the hand-feed actuator are assigned to the first control unit, with independent partitions, and do not share the controller with other components.

[0075] It should be understood that controlling these high-real-time, high-safety, and high-sensitivity components separately as the first control unit not only enables rapid local closed-loop calculations, but also isolates these high-safety and high-real-time components to prevent ordinary component failures from interfering with vehicle safety components.

[0076] It should be noted that this application does not limit the number of first control units. They can be flexibly configured according to different functional requirements. A single first control unit can be used to centrally manage all high-security, high-real-time components, or multiple independent first control units can be deployed according to functional blocks. For simple systems, there may be only one first control unit and one second control unit; for more complex systems, there may be multiple first control units and multiple second control units. This application does not impose specific limitations in this regard.

[0077] The second control unit 1012 is a control domain specifically set up for actuators, sensors and other components that have relative motion. Its function is to realize closed-loop control of local motion. For example, in a foldable steering wheel, the local motion is the folding and unfolding of the steering wheel, as well as the opening or closing of the hatch. The components involved include: folding drive motor, shaft angle sensor, hatch, etc. All of these components are grouped into the second control unit.

[0078] By setting up a second control unit, it is possible to achieve local closed-loop control of moving parts, shorten the signal transmission distance, reduce transmission delay, reduce wiring harness bending loss during movement, and improve the response speed and operational reliability of local moving mechanisms.

[0079] In some embodiments, see again Figure 2 The control unit 101 further includes at least one third control unit 1013, which includes at least one of the following: the controlled components are all arranged in a non-moving area or a preset low relative displacement area; and the corresponding safety level is lower than the safety level corresponding to the first control unit 1011.

[0080] The components controlled by the third control unit 1013 are typically those that do not move or move only slightly, or those that participate in system operations but do not perform the highest level of safety functions. Multiple scattered accessories can be grouped together in the same control unit. For example, auxiliary components such as the multi-function buttons on a folding steering wheel, ambient lighting, flip-up motor, and status indicator lights.

[0081] By setting up a third control unit, scattered control loads can be consolidated, reducing the number of independent controllers, simplifying wiring layout, and lowering hardware and cabling costs, while not consuming resources in the high-security control domain. Furthermore, the third control unit is easier to expand, replace, and reuse. If new components or functions are added to the system in the future, they can be preferentially assigned to the third control unit without modifying other control units; functions with different safety levels and motion attributes are clearly separated into layers.

[0082] In some embodiments, when the electromechanical system is a foldable steering wheel, the first control unit is a feel control unit, the second control unit is a folding control unit, and the third control unit is an add-on component control unit.

[0083] The haptic control unit includes at least one of the following: a haptic controller, a haptic motor, a position sensor, and an angle sensor. The folding control unit includes at least one of the following: a steering wheel switch controller, a folding adjustment motor, an interactive component, and a status sensor. The accessory control unit includes at least one of the following: an accessory controller, a horizontal storage motor, a pitch adjustment motor, an angle adjustment motor, a flip-up motor, physical buttons for steering wheel function controls, and an indicator unit for steering wheel function controls.

[0084] For example, such as Figure 3 As shown, the foldable steering wheel includes three control units. The feel control unit includes: a feel controller, a feel motor, and a turbine position sensor. The folding control unit includes: a steering wheel switch assembly (steering wheel switch controller) and a folding adjustment motor. The accessory control unit includes: a storage accessory controller (accessory controller), a horizontal storage motor, a pitch adjustment motor, a pedal storage motor, a flip-up motor, physical buttons, and a sliding screen motor.

[0085] As the most crucial module in the steering wheel, the feel control unit has extremely high requirements in terms of real-time performance. It needs to continuously acquire high-frequency signals and adjust motor torque to achieve real-time closed-loop control, demanding extremely low signal transmission delay and control response speed. In terms of safety, component failure can cause abnormal steering feel and potentially lead to loss of steering control, making safety paramount. Therefore, the feel control unit is independently managed as the primary control unit to avoid interference from malfunctions in other components.

[0086] The folding control unit is used to control the steering wheel to adjust its posture. During the steering wheel adjustment process, the relative displacement between components is small, and this unit is only responsible for changing the steering wheel in the cabin. A malfunction will only cause the steering wheel to be unable to be folded and stored, and will not affect other safety functions of the vehicle. Therefore, the folding control unit can be used as a second control unit, which can simplify the control logic of the motion execution link and improve the overall fault tolerance of the system.

[0087] The add-on component control unit includes an accessory storage controller and general actuators and input / output components related to storage, attitude adjustment, and accessory movements. For example, it may include a horizontal storage motor, a pitch adjustment motor, an angle adjustment motor, a flip-up motor, and general physical buttons and indicators. These components have low functional safety levels, their failure does not affect the overall vehicle driving safety, and they are mostly scattered auxiliary functional components with no high-frequency, high-real-time closed-loop requirements. By unifying these components into a third control unit, centralized management of scattered accessory functions can be achieved, simplifying the system control architecture, reducing the use of independent controllers and wiring resources, and lowering hardware costs and system complexity.

[0088] It should be understood that the core of this embodiment lies in the following: within a system, general comfort, adjustability, accessory functions, or low safety level functions are concentrated in the general functional domain (third control unit), while high safety, high sensitivity, and high real-time critical links are separated. The two are interlocked through upper-level coordination, rather than being completely mixed at the lower level. In this way, links with different safety levels, different real-time requirements, and different motion attributes within the system are clearly delayered.

[0089] In a foldable steering wheel, the tactile feedback-related circuitry belongs to the first control unit, the folding / opening local execution circuitry belongs to the second control unit, and functions such as storage, adjustment, flip-up, and accessory input / output are assigned to the third control unit. Through this layering, the system no longer treats all actuators and sensors as peers, but rather forms an architecture where critical domains are prioritized, general domains are centrally managed, and the upper layer provides unified coordination.

[0090] Therefore, the electronic control of the folding steering wheel is divided into three dedicated control units: feel, folding, and accessories. Based on the three-dimensional division logic of motion, coupling, and safety, it realizes the isolation of safety functions, the closed loop of moving parts, and the intensive management of comfort accessories, overcoming the defects of traditional unified wiring according to installation location and mixed coupling of high and low safety components.

[0091] Furthermore, the control architecture decouples functions with different security levels and motion attributes, explicitly separating these functions into distinct layers. This distinction results in the expansion, replacement, and reuse of general functions no longer disrupting critical functional chains, making system evolution and platform reuse easier to achieve, and making it more suitable for cross-product migration.

[0092] In some embodiments, within the same control unit, components with response time requirements and / or components performing the same function are disposed on the same moving body or within a preset low relative displacement region. The preset low relative displacement region is used to indicate that the relative displacement between any two components within the region is less than a preset relative displacement threshold, or that the displacement of a component itself is less than a preset self-displacement threshold.

[0093] In this context, "achieving the same function" means that multiple components cooperate and coordinate to complete the same type of control function, belonging to the same functional link of supporting components. "Requirements for response time between components" means that there is a need for real-time data interaction and linkage control between components, which has high requirements for signal transmission delay, action synchronization, and response speed, and cannot be adapted to long-distance, cross-regional delayed communication.

[0094] In one implementation, coupling degree and functional importance can be used to quantify which components need to be classified into the same moving body. A coupling degree greater than a preset coupling degree threshold indicates that the components are frequently linked and require high-frequency data interaction and local closed-loop calculation. For example, in a folding steering wheel, the folding angle sensor and folding drive motor are used. The sensor collects the shaft position signal in real time and uses it directly as the basis for controlling the motor speed adjustment and start / stop.

[0095] A functional importance greater than a preset functional importance threshold indicates that the component plays a decisive role in the function controlled by this control unit. For example, the position sensor and the hand-feel motor in the hand-feel control unit are components that realize the steering feel simulation. The failure of the component will directly cause the hand-feel function to fail completely.

[0096] The concept of a single moving body and a low relative displacement region indicates that components move synchronously or have small relative positional changes during system operation. A single moving body does not require all components to be rigidly fixed to the same entity; the low relative displacement region can be formed through integrated brackets, adjacent housings, shared platform mounting plates, shared module mounting bases, etc. As long as the relative displacement between components during system operation is sufficiently small and does not affect local closed-loop and short-link connections, they can be considered a single moving body.

[0097] Regarding the physical arrangement of the second control unit, it is not limited to being installed entirely within the housing, as long as it belongs to the same moving body or a low relative displacement area.

[0098] As one possible implementation, after dividing the electromechanical system into at least two control units, the installation location, size, and motion trajectory of the controller in the control unit are determined. Components with response time requirements and / or the same function are selected. Components with coupling degree greater than a preset coupling degree threshold and / or functional importance greater than a preset functional importance threshold are placed on the same moving body or in a low relative displacement region along with their matching controllers.

[0099] Components with response time requirements and / or those performing the same function need high-frequency signal interaction and real-time closed-loop computation may require additional wiring if they are located across different areas. Repeated folding and sliding of the steering wheel will lengthen the wiring harness, increasing costs. Furthermore, long wiring harnesses are prone to electromagnetic interference and increased signal transmission delays. Components with high functional importance are the core of the control unit, determining whether the functions controlled by the control unit can be achieved. Centralizing their placement within the same moving body or in a low-relative-displacement area simplifies power supply and wiring, shortens the wiring length of critical components, reduces line loss, dynamic fatigue, and interference risks, thereby improving the operational stability of the control unit.

[0100] In some embodiments, the haptic controller, haptic motor, position sensor, and angle sensor are collectively disposed within the steering wheel body or a preset relative displacement region. The folding actuator and interaction components are disposed within a first region; the first region is adjacent to the steering wheel switch controller. The placement of each component within the add-on component control unit is determined based on the movement amplitude and safety level of each component. The preset relative displacement region represents a region with small relative displacement, which can be approximated as a region where only minute displacements exist between components.

[0101] Specifically, the hand-feed controller, hand-feed motor, and position / angle sensor strongly coupled to the hand-feed drivetrain are preferably located together in a relevant local area of ​​the steering wheel body or in an area with relatively small displacement. The folding actuator and local input components in the folding / switching local control domain are also preferably located in an adjacent motion body area. General actuators in the general function control domain are located in a generally stationary area or a slightly moving area, depending on their movement range and safety level.

[0102] It should be understood that with this setup, the tactile control link is shortened, the number of drive lines and sampling lines across the motion zone is reduced, the risk of dynamic bending is decreased, the sampling error and interference accumulation are reduced, and local diagnosis and calibration are easier, while the local critical closed loop is kept in a stable or relatively stable region.

[0103] In some embodiments, see again Figure 2 The electromechanical system 10 also includes: an upper-level coordination unit 102, which is connected to each control unit 101; the upper-level coordination unit 102 is used to implement redundancy management of each control unit 101, coordinate the timing between each control unit 101, and start or wake up each control unit 101; each control unit 101 is used to drive the corresponding component to perform actions according to the instructions sent by the upper-level coordination unit 102.

[0104] The upper-level coordination unit 102 is a management module that coordinates all control units 101, summarizes information, issues collaborative scheduling commands, and realizes cross-control unit linkage control. For example, in a vehicle, the upper-level coordination unit can be a vehicle controller, domain controller, upper-level main control unit, or other global control nodes. The upper-level coordination unit does not directly complete all low-level driving and sampling, but is responsible for module wake-up, operation status judgment, cross-domain interlocking, fault management, degradation strategy scheduling, and interaction with external systems.

[0105] That is, when the electromechanical system is running normally, each control unit 101 at the lower level wakes up the status according to the control command issued by the upper coordination unit 102, and then performs signal calculation, closed-loop adjustment and component driving based on the collected sensor signals.

[0106] It should be understood that by setting up an upper-level coordination unit, an architecture can be constructed where lower-level control units have local closed-loop control and upper-level coordination units provide global coordination. In this architecture, lower-level control units are responsible for local driving, local data acquisition, local diagnostics, and local real-time closed-loop control, while upper-level coordination units are responsible for mode switching, action interlocking, cross-domain collaboration, and fault policy scheduling. In other words, the lower-level control domain prioritizes solving local real-time control problems, while the upper-level control layer primarily addresses system-level coordination issues. This decouples the tasks of global overall planning and scheduling from local real-time control, allowing each control unit to focus on local control efficiency and reliability, resulting in a clearer division of labor among control levels.

[0107] In some embodiments, the foldable steering wheel further includes an upper steering wheel coordination unit.

[0108] The upper steering wheel coordination unit is connected to the feel control unit, the folding control unit, and the additional component control unit. The upper steering wheel coordination unit performs at least one of the following functions: allowing the foldable steering wheel to move; allowing entry into a preset folding posture; restricting the control unit's movement; and activating a degradation strategy, which instructs the foldable steering wheel to be controlled based on redundant modules, or controls the vehicle to decelerate and stop.

[0109] In the steering wheel embodiment, the upper-level coordination unit can determine whether to allow steering wheel movement, whether to allow entering a certain folding posture, whether to restrict the movement of a certain local domain, and whether to activate a degradation strategy based on the driving mode, automatic driving state, storage mode, fault state, speed conditions, or other system states.

[0110] For example, in autonomous driving mode, the upper-level coordination unit sends a steering wheel folding control command to the folding control unit. After receiving the steering wheel folding command, the folding control unit controls the steering wheel to fold along a preset trajectory and then fold it into the storage compartment. After the folding is completed, the folding control unit reports the status information that the steering wheel has been folded into storage to the upper-level coordination unit. The upper-level coordination unit then sends a status light illuminating command to the third control unit to illuminate the status indicator light of the folded steering wheel.

[0111] In a wire-controlled folding steering wheel, the tactile motor and the position / angle sensor strongly coupled to the worm gear mechanism or tactile transmission chain are preferably integrated into the tactile control unit. The steering wheel folding motor is preferably integrated into the local control unit of the switch group on the steering wheel. Other components that do not move or only move slightly, such as the horizontal retraction motor, pitch adjustment motor, angle adjustment motor, flip cover motor, pedal retraction motor, and physical buttons, are uniformly integrated into the retraction accessory control domain at the system architecture level. The above-mentioned sub-domain control units are connected to the upper-level coordination control layer through a communication network. The upper layer is mainly responsible for wake-up, coordination, state interlocking, and strategy management, while the lower-level data acquisition, driving, and local control decisions are completed locally as much as possible. In this way, the signals and connection harnesses crossing the motion segment are minimized.

[0112] In some embodiments, where the electromechanical system includes an upper-level coordination unit, the upper-level coordination unit sends control signals to each control unit. The control signals include mode instructions and enable instructions, but do not include drive signals for directly driven components; the drive signals are generated by the corresponding control unit.

[0113] In other embodiments, when the electromechanical system does not include an upper-level coordination unit, the drive signals of the components are generated by the corresponding control units; wherein the communication signals between the two control units include status signals and coordination instructions, but do not include drive signals.

[0114] It should be noted that when there is an upper-level coordination unit in the electromechanical system, the functional logic and control logic of each control unit can be implemented locally by the control unit. The specific deployment location and deployment ratio of the functional logic and control logic can be determined according to the system's real-time requirements, the complexity of the motion structure, etc. For example, steering wheel feel control only involves the adjustment of the feel motor, and the algorithm is relatively simple. The algorithm can be deployed locally on the feel controller. This application does not impose specific restrictions on this.

[0115] It should be understood that deploying functional and control logic at the control unit level can fully leverage the advantages of local closed-loop control, shorten signal transmission links, and improve the real-time performance of closed-loop control. Deploying the algorithms that implement the functions of each control unit at the upper-level coordination unit level enables unified scheduling and coordinated operation of the entire electromechanical system, facilitating cross-domain linkage and unified management of this electromechanical system.

[0116] For example, in the steering wheel, the algorithms of control units such as the feel control unit are deployed locally, relying on local data collection, local computation, and local driving to complete real-time control.

[0117] Compared to existing technologies, the steering wheel in this application, through a hierarchical control architecture, shortens key drive and sampling paths, improves real-time performance and stability, and clearly defines the responsibilities of the upper and lower layers. The lower layer focuses on real-time local control, while the upper layer focuses on global management, making the system easier to reuse. Furthermore, in different implementations, only the internal components of specific local control domains need to be replaced, without overturning the overall hierarchical structure.

[0118] In some embodiments, the electromechanical system further includes a communication link and a power supply link. The upper-level coordination unit communicates with each control unit via the communication link; no communication link is provided between the control units; each control unit is connected to the power supply via the power supply link.

[0119] Among them, the communication link and the power supply link are determined based on the preset line simplification principle, which is used to indicate the reduction of the wiring harness crossing between different control units.

[0120] It should be noted that the communication link and the power supply link are in Figure 1 and Figure 2 Not shown in the image; please refer to the following for details. Figure 4 .

[0121] As one possible implementation, communication links are maintained only between the upper-level coordination unit and the first, second, and third control units, respectively; no communication links are established between the first, second, and third control units. The upper level centrally sends and receives all commands and status signals, and any inter-unit coordination is relayed and scheduled by the upper level.

[0122] The vehicle's power supply has multiple independent power supply lines, which are connected to each control unit, allowing the internal components of each unit to draw power from the nearest available source.

[0123] It should be noted that, regarding the communication method, this application is not limited to a specific bus protocol, and any suitable communication network between the control unit and the upper-level coordination unit or control unit can be used. Regarding the power supply method, it is not limited to single-voltage or dual-path power supply, and hierarchical power supply, main / backup power supply, or other power management methods can also be used; this application does not impose specific limitations.

[0124] It should be understood that by wiring based on preset line simplification principles, communication lines and power supply lines are confined to the installation area of ​​the corresponding control unit, without crossing the motion area or control domain. This can reduce the number of wiring harnesses crossing between different control units, and reduce the size of the connection assembly and the complexity of installation.

[0125] In some embodiments, the foldable steering wheel further includes a communication link and a power supply link. The feel control unit, the folding control unit, and the add-on component control unit are each connected to the upper coordination unit of the steering wheel via the communication link; no communication link is provided between the feel control unit, the folding control unit, and the add-on component control unit; the feel control unit, the folding control unit, and the add-on component control unit are each connected to a power supply via a power supply link.

[0126] It should be understood that after the control domain reconstruction is completed, in order to avoid repeated bending and pulling of the wiring harness in the moving area and to reduce the risk of signal interference and line failure, the connections that cross the rotation area, folding area, sliding area or other dynamic moving areas should retain only the necessary power supply backbone links, communication backbone links and a small number of necessary safety signals, instead of directly crossing a large number of low-level drive lines, sampling lines and ordinary status lines across the area. This ensures that sampling, driving and conventional control links are all confined within their respective control domains, thereby reducing the number of wiring harnesses and the complexity of wiring in the moving area and improving the stability of signal transmission.

[0127] In the steering wheel embodiment, the tactile control domain, the folding / switching local control domain, and the general function control domain each complete the driving and sampling locally. Therefore, the connection traversing the motion segment mainly serves the functions of power supply and communication. Figure 4As shown, the tactile control domain, folding / switching local control domain, and accessory storage control domain interact with the upper-level control layer. Communication and power supply methods can adopt crimp power supply, shared CAN, etc., to reduce the number of wiring harnesses in the moving section. Specifically, in areas with relatively small movements, the main wiring harness is used for crimp power supply and communication, while the main wiring harness in the moving section is used for power supply, communication, and safety redundancy.

[0128] Among them, cross-regional connection methods can adopt flexible flat connection, flexible cable, composite wire harness or other connection forms suitable for dynamic motion environment.

[0129] It should be understood that by simplifying the wiring across motion zones, the number of cross-zone connecting lines can be reduced, the overall cross-sectional area of ​​the harness can be reduced, and the size of the connectors can be decreased, thereby improving the dynamic bending fatigue life of the harness and reducing the difficulty of arranging motion structures, making space packaging easier.

[0130] In some embodiments, the electromechanical system further includes: a redundant power supply module, a redundant acquisition module, and a consistency diagnostic module. The redundant power supply module provides redundant power input to the first control unit. The redundant acquisition module provides redundant signal acquisition paths to the first control unit. The consistency diagnostic module performs consistency verification of the power supply status and / or acquisition status for the first control unit.

[0131] It should be noted that the redundant power supply module, redundant acquisition module, and consistency diagnosis module are... Figure 1 and Figure 2 Not shown in the image.

[0132] The redundant power supply module is an independent power supply circuit configured for the first control unit. When the main power supply line experiences a fault such as a circuit break or poor contact, it can seamlessly switch to the backup power supply circuit to ensure the unit continues to work normally, thereby avoiding the problem of power interruption caused by a single circuit power supply and ensuring the operational reliability of the first control unit.

[0133] For example, the foldable steering wheel's feel control unit is equipped with dual power supply: one is the main power supply, and the other is an independent power supply from a redundant power supply module. In the event of a main circuit failure during driving, the backup power supply is automatically switched to prevent the steering feel function from suddenly failing.

[0134] The redundant acquisition module provides multiple independent sampling channels for sensor signals, allowing the same detection signal to be transmitted synchronously to the controller through multiple channels. This prevents signal loss or distortion caused by single acquisition link failure or electromagnetic interference, ensuring the accuracy and continuity of real-time closed-loop control.

[0135] For example, the angle sensor in the haptic control unit sends data to the haptic control unit simultaneously via both the main acquisition channel and the redundant acquisition module. If the main channel is interfered with or the circuit is damaged, the system automatically activates the backup channel to ensure continuous and uninterrupted sampling data. (See also...) Figure 3 The hand steering control unit also includes a downstairs steering and a worm gear position sensor. Both the worm gear and worm gear position sensors are connected to both the hand steering controller and the downstairs steering. In the event of a worm gear position sensor failure, the system can switch to the worm gear position sensor for position data acquisition. If the hand steering controller fails, the downstairs steering module can be used for control.

[0136] The consistency diagnostic module is a diagnostic unit used to compare multiple sources of data, power supply parameters, and operating status. It can perform power supply status verification and data acquisition status verification. Power supply status verification compares the voltage, current, and other parameters of the main power supply and redundant power supply to identify power supply anomalies. Data acquisition status verification compares the sensor data of the main acquisition path and redundant acquisition paths to determine whether the signal is distorted or the link is faulty.

[0137] For example, in the touch control unit: if the difference between the two power supply voltages exceeds the threshold, a fault is determined and redundancy switching is performed.

[0138] In some embodiments, the foldable steering wheel further includes at least one of the following: a redundant power supply module, a redundant acquisition module, and a consistency diagnostic module. The redundant power supply module provides redundant power input to the feel control unit, the redundant acquisition module provides redundant signal acquisition paths to the feel control unit, and the consistency diagnostic module performs consistency verification of the power supply status and / or acquisition status for the feel control unit.

[0139] As one possible implementation, the redundant power supply module includes a main power supply link and a backup power supply link. The redundant acquisition module includes two position / angle acquisition paths and two position / angle sensors. The consistency diagnostic module is used to determine whether to switch, block abnormal channels, or enter a controlled degradation mode based on the power supply status and / or acquisition status.

[0140] Specifically, the haptic control unit can use two inputs: a main power supply and a backup power supply, or two key position / angle acquisition channels. The haptic controller can compare the consistency of the two sampling results and decide whether to switch, shield abnormal channels, or enter a controlled degradation mode based on the power supply status and sampling status.

[0141] It should be noted that redundancy can also manifest as heterogeneous acquisition by dual sensors, dual drive paths, dual computing paths, and fault-tolerant output logic, etc. As long as its core is to prioritize the establishment of independent and reliable capabilities within the key control unit, it can be regarded as a form of redundancy that can be implemented in this application. This application does not limit the specific implementation form of redundancy.

[0142] In some other solutions, besides the first control unit, some second control units, due to their critical motion functions, also possess high operational importance and can be specifically configured with redundancy. For example, redundant links can be added to the position acquisition circuit and motion drive circuit of the steering wheel folding control unit to improve the operational stability of the folding action. This application's embodiments only illustrate the redundancy architecture configured for the first control unit and do not imply that this application can only perform redundant design on the first control unit, nor does it constitute a limitation on the scope of protection of this application.

[0143] Therefore, this application achieves redundancy only for the first control unit, such as the feel control unit in a foldable steering wheel, without spreading redundancy evenly across the entire system (e.g., without requiring all main control microcontroller units (MCUs) to be backed up with dual chips / dual cores). Instead, it prioritizes redundant resources for the most critical and sensitive local links, thereby improving the security and degradation capability of key functions while taking into account cost and complexity.

[0144] It should be noted that the electromechanical system described in the above embodiments can be applied to scenarios such as automotive movable control assemblies. Such systems contain multiple sets of actuators, sensors, and controllers with relative motion relationships. This application re-divides the system into domains based on dimensions such as relative motion relationships, functional attributes, real-time requirements, and safety levels: the control links that are strongly related to the core human-machine interaction, have high real-time control requirements, and are of high safety importance are designated as the critical local control domain (first control unit); the auxiliary execution links that are strongly coupled with the local motion of components are designated as the motion execution local control domain (second control unit); and the remaining equipment housing, parameter adjustment, and various auxiliary functions are uniformly classified into the general function control domain (third control unit).

[0145] This application's architecture prioritizes the placement of components from various local control domains within the same moving body or low relative displacement region, achieving functional integration and local closed-loop control. This avoids the latency and line loss issues associated with real-time control across moving regions. Furthermore, the connection links across moving regions are simplified to power supply and communication links, minimizing damage from crossing and bending of wiring harnesses. Further, redundant power supply and redundant data acquisition mechanisms are configured for the first control unit to enhance the fault tolerance and operational stability of core functions. Simultaneously, the upper-level coordination control layer uniformly manages the switching of operating modes, cross-domain action interlocking, collaborative scheduling, and fault strategy management for the entire system.

[0146] Furthermore, this invention is not limited to foldable steering wheels, vehicle systems, or single control assemblies, but rather to a universal hierarchical domain control architecture for various electromechanical systems with relative motion relationships. Most related technologies are customized for specific product forms, resulting in poor versatility and portability. This application, however, refines specific product control solutions into a universal domain (unit) partitioning and hierarchical control method, achieving a universal upgrade in the technical solution. Based on this architectural innovation, this application can be applied to various application scenarios, including but not limited to automotive cockpit motion assemblies, industrial adjustable motion modules, multi-degree-of-freedom robot joints, and motion execution components of medical equipment. For any electromechanical system with rotation, sliding, folding, swinging, or complex relative motion relationships, as long as there are design requirements such as decoupling key control links from ordinary functional links, avoiding high-dynamic cross-domain wiring for low-level real-time closed-loop control, and simplifying the backbone of cross-motion area links, the hierarchical domain control concept of this invention can be used to complete system architecture reconstruction and functional module integration.

[0147] The following section will provide a detailed explanation using two examples.

[0148] In lower limb rehabilitation robots, there are multi-jointed kinematic bodies, specifically including multiple joints such as the hip and knee, each equipped with actuators (motors) and sensors. Centralizing the driving and sampling of all joints to a single controller would lead to high communication load, insufficient real-time performance, and complex cabling. When partitioning the control unit based on the logic proposed in this application, an independent control unit is configured near each joint. This means that joint-related control is placed closer to the joint, while overall system coordination is placed on another layer, forming a local control domain that independently completes the closed-loop control of that joint, while overall system coordination is handled by the upper-level unit. In other words, different joints are equivalent to different kinematic bodies, and actuators, sensors, and control units strongly coupled to a particular joint are preferentially placed near that joint. This not only facilitates redundancy but also reduces data interaction with upper-level units, lowers communication bus load and latency, and improves the real-time control performance of the lower limb rehabilitation robot.

[0149] In modular robots based on Automation Technology for Robotics (ATRO), each ATRO motor module is a complete drive system for one axis or joint of the robot, containing a 48V drive. Related technologies centralize the drives of all joints in a single central drive cabinet, resulting in long drive cables and significant electromagnetic interference. In the control unit partitioning based on the logic proposed in this application, ATRO makes each axis an independent joint module, achieving distributed drive. That is, each joint is a complete local unit, with its actuators, sensors, and control units integrated within the same module. This allows each joint module to independently complete drive and closed-loop control, avoiding long-distance transmission of drive signals.

[0150] It should be noted that the control unit partitioning logic (configuration method of electromechanical system distributed architecture) proposed in this application is also applicable to other electromechanical systems involving relative motion (such as multi-axis industrial robots, collaborative robotic arms, exoskeleton robots, etc.), which will not be described in detail here.

[0151] Furthermore, combining all the above embodiments, this application adopts a modular integration and interconnected organization-integrated overall design approach, incorporating multiple design aspects such as control unit division, component spatial arrangement, wiring layout, and redundancy configuration into a unified design under the same architecture. All design rules are mutually compatible and standardized, ensuring a high degree of uniformity in the entire electromechanical system in terms of functional zoning, physical layout, and wiring connections. Simultaneously, the integrated design reduces conflicts and adaptation workload between different design stages, resulting in stronger overall consistency and smoother engineering implementation.

[0152] In some embodiments, this application proposes a configuration method for a distributed architecture of an electromechanical system, which can be applied to a configuration device for a distributed architecture of an electromechanical system. The configuration device for a distributed architecture of an electromechanical system can be an electronic device, a controller in an electromechanical system, or a cloud or a server that can communicate with the electromechanical system. This application does not impose any specific limitations on this.

[0153] like Figure 5 As shown, the configuration method of the electromechanical system distributed architecture of this application includes the following steps: S501. Based on at least one of the following: the relative motion relationship between components in the electromechanical system, the functional coupling relationship between components, and the safety importance of each component, the electromechanical system is divided into at least two control units.

[0154] In electromechanical systems, there is relative motion between components.

[0155] S502. Based on at least two control units, configure a distributed architecture for the electromechanical system.

[0156] As one possible implementation, based on at least two control units obtained from the division, the functional boundaries of each control unit and the positions of its internal components are determined, and the functional boundaries and component positions of each control unit are uniformly configured to obtain the distributed architecture of the electromechanical system.

[0157] In some embodiments, relative motion relationships are used to indicate the moving body level or relative displacement level to which a component belongs; functional coupling relationships are used to indicate the perception and execution link of the function to which the component belongs; and safety importance is used to indicate the failure impact level of the component's function.

[0158] In some embodiments, based on at least one of the relative motion relationships between components in the electromechanical system, the functional coupling relationships between components, and the safety importance of each component, the electromechanical system is divided into at least two control units, including: configuring components with relative motion relationships in the same control unit based on relative motion relationships; configuring components belonging to the same moving body or the same relative displacement level in the same control unit based on relative motion relationships; and / or configuring components belonging to the same sensing and execution link in the same control unit based on functional coupling relationships; and / or configuring components with failure impact levels higher than a preset level in a separate control unit based on safety importance.

[0159] In some embodiments, the control unit includes at least one of the following: at least one first control unit, including a set of components that satisfy at least one of the following conditions: the closed-loop control period is less than or equal to a preset real-time threshold, the failure impact level is greater than a preset level, or the signal error sensitivity is greater than or equal to a preset sensitivity threshold; the closed-loop control period is used to indicate the time required for the sensing and execution link to complete one complete signal acquisition, processing, and drive output; the signal error sensitivity is used to indicate the degree of influence of the output deviation from the expected value caused by error, delay, and noise in the sensing and execution link; at least one second control unit is mounted on a corresponding local motion mechanism, the local motion mechanism being the smallest mechanical unit in the electromechanical system capable of independently generating relative motion.

[0160] In some embodiments, the control unit further includes: at least one third control unit, the function of which includes at least one of the following: all controlled components are arranged in a non-movement area or a preset low relative displacement area, the preset low relative displacement area is used to indicate that the relative displacement between any two components in the area is less than a preset relative displacement threshold, or the displacement of the component itself is less than a preset self-displacement threshold; the corresponding safety level is lower than the safety level corresponding to the first control unit.

[0161] In some embodiments, the above method further includes: setting components with response time requirements and / or components that perform the same function as the same moving body or setting them in a preset low relative displacement region.

[0162] In some embodiments, the method further includes: determining the communication connection relationship and power supply connection relationship between control units based on a preset wiring simplification principle; the preset wiring simplification principle is used to indicate the reduction of wiring harness crossings between different control units.

[0163] In some embodiments, the electromechanical system further includes an upper-level coordination unit, which has the following functions: redundancy, coordination, startup, or wake-up. The method further includes: determining the communication connection relationship between each control unit and the upper-level coordination unit based on a preset circuit simplification principle, and adjusting the communication connection relationship between the control units.

[0164] In some embodiments, the above method further includes performing at least one of the following processes on the first control unit: redundant power supply, redundant data acquisition, consistency diagnosis, and controlled degradation.

[0165] It should be noted that the specific implementation of the method embodiments of this application can be referred to the description of the electromechanical system in the above embodiments, and will not be repeated here.

[0166] The principles and methods of dividing the electromechanical system architecture of this application will be described in detail below.

[0167] like Figure 6 As shown, this application integrates motion relationships, functional coupling relationships, and safety importance into the control boundary definition process. Its control domain partitioning process includes the following steps: First, identify all major actuators, sensors, input / output components, and control units in the system, perform motion relationship analysis, and determine their spatial arrangement, relative motion relationships, and functional connection relationships.

[0168] The second step is to perform functional coupling analysis, which analyzes the strength of functional coupling between each actuator and its corresponding sensor and control logic, and determines whether it requires high real-time performance and localized closed loop.

[0169] The third step is to conduct a security importance analysis, which analyzes the security importance and failure impact of each link, and distinguishes between critical links and general links.

[0170] The fourth step is to divide and determine the control domain (i.e., control unit) based on the relative motion relationship, functional coupling relationship and safety importance, and obtain the critical local control domain (i.e., the first control unit), the local motion execution control domain (i.e., the second control unit) and the general function control domain (i.e., the third control unit).

[0171] The fifth step is to determine the location of key components within each control domain and the local control layout, so that strongly coupled links are preferably located in the same moving body or in a low relative displacement region.

[0172] Step 6: Determine the cross-domain link backbone: Determine the power supply and communication relationship between each control domain and the upper-level coordination control layer, and compress cross-motion zone connections into the necessary backbone as much as possible.

[0173] Step 7: Local closed-loop control and directional redundancy design. Redundant power supply, redundant data acquisition, local diagnostics, and controlled degradation capabilities are configured for critical local control domains.

[0174] like Figure 7 As shown, the process of dividing the electromechanical system architecture is as follows: Acquire information on motion control components and control areas. Specifically, divide control domains according to motion relationships, functional coupling relationships, and safety importance. Place critical local control domains within the same moving body or low relative displacement regions. Determine the main path across motion zones. Establish power supply and communication backbones. Configure directional redundancy for critical local control domains. Connect all motion control components via the backbone. Implement upper-level coordination and management. End of process.

[0175] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the configuration device of the electromechanical system distributed architecture includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0176] This application embodiment can, according to the above method, exemplarily divide the configuration device of the electromechanical system distributed architecture into functional modules. For example, the configuration device of the electromechanical system distributed architecture may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0177] Reference Figure 8 The configuration device 800 of the electromechanical system distributed architecture includes: a partitioning unit 801 and a configuration unit 802.

[0178] The partitioning unit 801 is used to divide the electromechanical system into at least two control units based on at least one of the relative motion relationship between the components, the functional coupling relationship between the components, and the safety importance of the components.

[0179] Configuration unit 802 is used to configure the distributed architecture of the electromechanical system based on at least two control units.

[0180] Optionally, relative motion relationship is used to indicate the moving body level or relative displacement level to which the component belongs; functional coupling relationship is used to indicate the perception and execution link of the function to which the component belongs; safety importance is used to indicate the failure impact level of the component function.

[0181] Optionally, the partitioning unit 801 is specifically used to configure components belonging to the same moving body or the same relative displacement level in the same control unit based on relative motion relationship; and / or, to configure components belonging to the same sensing and execution link in the same control unit based on functional coupling relationship; and / or, to configure components with a failure impact level higher than a preset level in a separate control unit based on safety importance.

[0182] Optionally, the control unit includes at least one of the following: at least one first control unit, including a set of components that satisfy at least one of the following conditions: the closed-loop control cycle is less than or equal to a preset real-time threshold, the failure impact level is greater than a preset level, or the signal error sensitivity is greater than or equal to a preset sensitivity threshold; the closed-loop control cycle is used to indicate the time required for the sensing and execution link to complete one complete signal acquisition, processing, and drive output; the signal error sensitivity is used to indicate the degree of influence of errors, delays, and noise on the output deviation from the expected value in the sensing and execution link; at least one second control unit, mounted on a corresponding local motion mechanism, wherein the local motion mechanism is the smallest mechanical unit in the electromechanical system capable of independently generating relative motion.

[0183] Optionally, the control unit further includes: at least one third control unit, the function of which includes at least one of the following: all controlled components are arranged in a non-moving area or a preset low relative displacement area, the preset low relative displacement area is used to indicate that the relative displacement between any two components in the area is less than a preset relative displacement threshold, or the displacement of the component itself is less than a preset self-displacement threshold; the corresponding safety level is lower than the safety level corresponding to the first control unit.

[0184] Optionally, the above-mentioned device further includes: a processing unit, which is used to set components with response time requirements and / or components that perform the same function as the same moving body or set them in a preset low relative displacement region.

[0185] Optionally, the aforementioned processing unit is used to determine the communication connection relationship and power supply connection relationship between control units based on a preset wiring simplification principle; the preset wiring simplification principle is used to indicate the reduction of wiring harness crossings between different control units.

[0186] Optionally, the electromechanical system may also include: an upper-level coordination unit, which has the following functions: redundancy, coordination, startup or wake-up; and the aforementioned processing unit, which is used to determine the communication connection relationship between each control unit and the upper-level coordination unit based on a preset line simplification principle, and to adjust the communication connection relationship between the control units.

[0187] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 9 As shown, the electronic device 900 includes, but is not limited to, a processor 901 and a memory 902.

[0188] The aforementioned memory 902 is used to store the executable instructions of the aforementioned processor 901. It is understood that the aforementioned processor 901 is configured to execute instructions to implement the configuration method of the electromechanical system distributed architecture in the above embodiments.

[0189] It should be noted that those skilled in the art will understand that Figure 9 The device structure shown does not constitute a limitation on the device; the device may include, but is not limited to, other types of devices. Figure 9 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0190] Processor 901 is the control center of electronic device 900. It connects various parts of the device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in memory 902, and by calling data stored in memory 902, thereby providing overall monitoring of the device. Processor 901 may include one or more processing units. Optionally, processor 901 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 901.

[0191] The memory 902 can be used to store software programs and various data. The memory 902 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage component, flash memory component, or other volatile solid-state storage component.

[0192] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 902 including instructions, which can be executed by a processor 901 of an electronic device 900 to implement the methods in the above embodiments.

[0193] In actual implementation, Figure 8 Each unit energy in the process can be derived from... Figure 9 The processor 901 calls the computer program stored in the memory 902 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0194] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0195] In an exemplary embodiment, this application also provides a vehicle including the aforementioned device and computer-readable storage medium.

[0196] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 901 of the device to perform the methods described above.

[0197] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0198] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0199] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0200] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0201] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0202] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0203] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0204] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An electromechanical system, characterized in that, The components in the electromechanical system exhibit relative motion, and the electromechanical system includes: At least two control units are formed according to at least one of the following: the relative motion relationship between the components in the electromechanical system, the functional coupling relationship between the components, and the safety importance of each component; All drive signals that directly drive the components are generated internally by the corresponding control units. No separate motor drive signals and sensor sampling signals are transmitted across the relative motion area of ​​the components.

2. The electromechanical system according to claim 1, characterized in that, The relative motion relationship is used to indicate the moving body level or relative displacement level to which the component belongs.

3. The electromechanical system according to claim 2, characterized in that, Components belonging to the same moving body or the same relative displacement level are configured in the same control unit.

4. The electromechanical system according to claim 1, characterized in that, The functional coupling relationship is used to indicate the sensing and execution link of the function to which the component belongs; wherein, the sensing and execution link is a closed-loop control path that completes the full control function and is composed of at least one sensor, at least one controller and at least one actuator connected in sequence.

5. The electromechanical system according to claim 4, characterized in that, Components belonging to the same perception and execution chain are configured in the same control unit.

6. The electromechanical system according to claim 1, characterized in that... The safety importance level is used to indicate the failure impact level of the function to which the component belongs.

7. The electromechanical system according to claim 6, characterized in that, Components with a failure impact level higher than a preset level are configured in a separate control unit.

8. The electromechanical system according to claim 1, characterized in that, The control unit includes at least one of the following: At least one first control unit includes a set of components that satisfy at least one of the following conditions: The closed-loop control cycle is less than or equal to a preset real-time threshold, the failure impact level is greater than a preset level, or the signal error sensitivity is greater than or equal to a preset sensitivity threshold; the closed-loop control cycle is used to indicate the time required for the sensing and execution link to complete one complete signal acquisition, processing, and drive output; the signal error sensitivity is used to indicate the degree of influence of errors, delays, and noise on the output deviation from the expected value in the sensing and execution link. At least one second control unit is mounted on a corresponding local motion mechanism, which is the smallest mechanical unit in the electromechanical system capable of independently generating relative motion.

9. The electromechanical system according to claim 8, characterized in that, The control unit further includes: At least one third control unit, said third control unit comprising at least one of the following: All controlled components are arranged in non-moving areas or preset low relative displacement areas; the preset low relative displacement area is used to indicate that the relative displacement between any two components in the area is less than a preset relative displacement threshold, or that the displacement of the component itself is less than a preset self-displacement threshold. The corresponding security level is lower than the security level corresponding to the first control unit.

10. The electromechanical system according to any one of claims 1-9, characterized in that, Within the same control unit, there are response time requirements between components and / or components that perform the same function are located on the same moving body or within a preset low relative displacement region.

11. The electromechanical system according to claim 10, characterized in that, The electromechanical system further includes: an upper-level coordination unit, which is communicatively connected to each of the control units; The upper-level coordination unit is used to implement redundancy management of each control unit, coordinate the timing between each control unit, and start or wake up each control unit; Each control unit is used to drive the corresponding component to perform actions according to the instructions sent by the upper-level coordination unit.

12. The electromechanical system according to claim 11, characterized in that, In the case where the electromechanical system includes the upper-level coordination unit, the upper-level coordination unit sends control signals to each control unit. The control signals include mode commands and enable commands, but do not include drive signals for direct drive components. The drive signal is generated by the corresponding control unit.

13. The electromechanical system according to claim 11, characterized in that, When the electromechanical system does not include the upper-level coordination unit, the drive signal of the component is generated by the corresponding control unit; wherein, the communication signal between the two control units includes status signals and coordination commands, but does not include the drive signal.

14. The electromechanical system according to claim 11, characterized in that, The electromechanical system also includes: a communication link and a power supply link; The upper-level coordination unit is connected to each of the control units via the communication links; no communication links are provided between the control units. Each control unit is connected to the power supply via the power supply link; The communication link and the power supply link are determined based on a preset line simplification principle; the preset line simplification principle is used to indicate the reduction of wiring harness crossings between different control units.

15. The electromechanical system according to any one of claims 1-9, characterized in that, The electromechanical system also includes: a redundant power supply module, a redundant acquisition module, and a consistency diagnosis module; The redundant power supply module is used to provide redundant power input to the first control unit; The redundant acquisition module is used to provide redundant signal acquisition paths for the first control unit; The consistency diagnostic module is used to perform consistency verification of the power supply status and / or data acquisition status for the first control unit.

16. The electromechanical system according to claim 1, characterized in that, The electromechanical system includes: Foldable steering wheels, robot joints, movable display terminals, retractable human-machine interfaces, medical motion components, or industrial actuators.

17. The electromechanical system according to claim 16, characterized in that, In the case where the electromechanical system is a foldable steering wheel, the first control unit is a feel control unit, the second control unit is a folding control unit, and the third control unit is an additional component control unit.

18. The electromechanical system according to claim 17, characterized in that, The haptic control unit includes at least one of the following: a haptic controller, a haptic motor, a position sensor, and an angle sensor; The folding control unit includes at least one of the following: a steering wheel switch controller, a folding adjustment motor, an interaction component, and a status sensor; The add-on component control unit includes at least one of the following: an accessory controller, a horizontal storage motor, a pitch adjustment motor, an angle adjustment motor, a flip cover motor, physical buttons for steering wheel function control, and an indicator unit for the steering wheel function control.

19. The electromechanical system according to claim 17 or 18, characterized in that, The hand-feed controller, hand-feed motor, position sensor, and angle sensor are all located on the steering wheel body or within a preset relative displacement area; The folding actuator and interaction components are located within a first area; the first area is adjacent to the steering wheel switch controller. The placement of each component within the additional component control unit is determined based on the range of motion and safety level of each component.

20. The electromechanical system according to claim 17, characterized in that, The foldable steering wheel also includes: an upper steering wheel coordination unit; The upper steering wheel coordination unit is connected to the feel control unit, the folding control unit, and the additional component control unit, respectively. The upper steering wheel coordination unit is used to perform at least one of the following functions: The function that allows the foldable steering wheel to move; The function allows entry into a preset folding posture; The function of restricting the operation of the control unit; The function of activating the degradation strategy is used to instruct the control of the foldable steering wheel based on the redundant module, or to control the vehicle to decelerate and stop.

21. The electromechanical system according to claim 17, characterized in that, The foldable steering wheel also includes: a communication link and a power supply link; The feel control unit, the folding control unit, and the additional component control unit are respectively connected to the upper coordination unit of the steering wheel via the communication link; No communication link is provided between the tactile control unit, the folding control unit, and the additional component control unit; The tactile control unit, the folding control unit, and the additional component control unit are each connected to the power supply via the power supply link.

22. The electromechanical system according to claim 17, characterized in that, The foldable steering wheel also includes at least one of the following: a redundant power supply module, a redundant acquisition module, and a consistency diagnosis module; The redundant power supply module is used to provide redundant power input to the haptic control unit; The redundant acquisition module is used to provide redundant signal acquisition paths for the tactile control unit; The consistency diagnostic module is used to perform consistency verification of the power supply status and / or data acquisition status for the tactile control unit.

23. The electromechanical system according to claim 22, characterized in that, The redundant power supply module includes: a main power supply link and a backup power supply link; The redundant acquisition module includes: two position / angle acquisition paths and two position / angle sensors; The consistency diagnostic module is used to determine whether to switch, block abnormal channels, or enter a controlled degradation mode based on the power supply status and / or the acquisition status.

24. A configuration method for a distributed architecture of an electromechanical system, characterized in that, There is relative motion between the components in the electromechanical system; the method includes: Based on at least one of the following: the relative motion relationship between the components in the electromechanical system, the functional coupling relationship between the components, and the safety importance of the components, the electromechanical system is divided into at least two control units; Based on the at least two control units, the distributed architecture of the electromechanical system is configured.

25. The method according to claim 24, characterized in that, The relative motion relationship is used to indicate the moving body level or relative displacement level to which the component belongs; The functional coupling relationship is used to indicate the perception execution link of the function to which the component belongs; The safety importance level is used to indicate the failure impact level of the function to which the component belongs.

26. The method according to claim 24 or 25, characterized in that, The electromechanical system is divided into at least two control units based on at least one of the following: the relative motion relationship between the components in the electromechanical system, the functional coupling relationship between the components, and the safety importance of each component: Based on the aforementioned relative motion relationship, components belonging to the same moving body or the same relative displacement level are arranged within the same control unit; and / or, Based on the aforementioned functional coupling relationship, components belonging to the same sensing and execution link are configured within the same control unit; and / or, Based on the aforementioned safety importance, components with a failure impact level higher than a preset level are configured in a separate control unit.

27. The method according to claim 24, characterized in that, The method further includes: Components with response time requirements and / or those performing the same function are set as the same moving body or set within a preset low relative displacement region; the preset low relative displacement region means that the relative displacement between any two components within the region is less than a preset relative displacement threshold, or that the displacement of the component itself is less than a preset self-displacement threshold.

28. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 24 to 27.

29. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the device, the device is capable of performing the method as described in any one of claims 24 to 27.

30. A vehicle, characterized in that, include: The electronic device as claimed in claim 28, and / or the electromechanical system as claimed in any one of claims 1 to 23.

31. A computer program product, the computer program product comprising computer instructions, characterized in that, When the computer instructions are executed on the processor of the device, the device is enabled to perform the method as described in any one of claims 24 to 27.

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