A motor controller, steering wheel system, and vehicle

Abstract

The application discloses a motor controller, a steering wheel system and a vehicle, relates to the technical field of motor control, and the motor controller comprises a micro control unit, a driving unit, N switch units, and N>=2; the micro control unit is connected with the driving unit; the driving unit is connected with the N switch units respectively; the N switch units are connected with N motors one by one to form N driving paths; the micro control unit is used for controlling the switch units to be turned on or turned off based on a control signal, so that the driving paths corresponding to the switch units are turned on or turned off; the motor controller does not need to set corresponding driving for each motor, and therefore the hardware cost of the motor controller is reduced. Meanwhile, the scheme is also suitable for a vehicle with an intelligent cabin, and the steering wheel system can also be carried on a vehicle with intelligent driving.

Description

Technical Field

[0001] This application belongs to the field of motor control technology, specifically relating to a motor controller, a steering wheel system, and a vehicle. Background Technology

[0002] With the rapid development of the new energy vehicle industry, drive technology with electric motors as the core has become the mainstream development direction of the industry. Developing electric motor drive systems with high efficiency and reliability has become a research direction in this field.

[0003] Existing new energy vehicles all use independent motor drive systems, with each motor having its own independent drive chip and drive circuit, thereby achieving independent control of multiple motors and preventing them from interfering with each other.

[0004] Because new energy vehicles have multiple motors, each equipped with a corresponding drive system, there are problems such as low resource utilization and high overall vehicle cost. Summary of the Invention

[0005] This application aims to provide a motor controller, steering wheel system, and vehicle to address the problems of low resource utilization and high overall vehicle cost in existing motor controllers.

[0006] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a motor controller for driving N motors, wherein N≥2, comprising: a microcontroller unit, a drive unit, and N switching units; The microcontroller unit is connected to the drive unit, the drive unit is connected to the N switch units respectively, and the N switch units are connected to the N motors in a one-to-one correspondence to form N drive paths; The microcontroller unit controls the switching unit to be turned on or off based on the control signal, thereby controlling the drive path corresponding to the switching unit to be turned on or off.

[0007] Secondly, embodiments of this application provide a steering wheel system, including: The aforementioned motor controller, steering wheel, adjustment components, and at least two motors; The steering wheel is connected to the adjustment assembly; the adjustment assembly is connected to the at least two motors; the at least two motors are each connected to the motor controller. The motor controller is used to drive the at least two motors to move, so that the adjustment component drives the steering wheel.

[0008] Thirdly, embodiments of this application provide a vehicle including the steering wheel system described above.

[0009] Beneficial effects Through the aforementioned architecture combining a single drive unit with multiple switching units, the microcontroller unit can selectively turn on or off the corresponding drive paths of multiple motors according to their control requirements, thereby achieving independent, time-sharing control of different motors. This design allows for the effective control of two or more motors working collaboratively using only one drive unit, realizing efficient reuse of the drive unit among multiple motors. On the one hand, it avoids the hardware redundancy caused by equipping each motor with a separate drive unit, significantly reducing the number of power stage chips and overall material costs. On the other hand, since drive units are usually high-cost, high-heat-generating core components in the system, the reuse design also simplifies the heat dissipation structure and circuit layout, improving the system's power density and reliability. Therefore, this architecture significantly reduces the overall hardware cost of the motor controller while ensuring independent and precise control of multiple motors. Furthermore, this solution is also applicable to vehicles with smart cockpits, and the steering wheel system can also be installed in vehicles with autonomous driving capabilities.

[0010] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A structural block diagram of a motor controller provided for an embodiment of this application; Figure 2 A brushed motor control circuit diagram of a motor controller provided for an embodiment of this application; Figure 3 A driving H-bridge circuit diagram of a motor controller provided for an embodiment of this application; Figure 4 A three-phase bridge drive circuit diagram of a motor controller is provided for embodiments of this application; Figure 5 A brushless motor control circuit diagram of a motor controller provided for an embodiment of this application; Figure 6 A brushed motor control flowchart of a motor controller provided for an embodiment of this application; Figure 7 A flowchart of a brushless motor control system for a motor controller provided for an embodiment of this application; Figure 8A schematic diagram of a steering wheel system provided for an embodiment of this application; Figure 9 A diagram showing the folded state of a steering wheel system provided as an embodiment of this application; Figure 10 This is a diagram showing the extended and deployed state of a steering wheel system provided as an embodiment of this application.

[0013] Steering wheel-100, adjustment assembly-200, column-201, storage assembly-202, telescopic column-203, multiple motors-300, first motor-302, second motor-303, third motor-301, fourth motor-304. Detailed Implementation

[0014] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0015] Against the backdrop of the rapid development of the new energy vehicle industry, drive technology with electric motors as the core power source has become increasingly mature and mainstream. Developing efficient, reliable, lightweight and economical electric motor drive systems has become a research direction in this field.

[0016] Existing new energy vehicles all use independent motor drive systems. Each motor has its own independent drive chip and drive circuit, which enables independent control and non-interference between motors. When a motor is not working, the drive chip and drive circuit controlling that motor are idle and cannot be shared with other motors. This results in low resource utilization and high vehicle cost.

[0017] Based on this, refer to Figure 1 The embodiments of this application provide a motor controller for driving N motors, wherein N≥2, including a microcontroller unit, a drive unit, and N switch units; the microcontroller unit and the drive unit are connected, the drive unit is connected to each of the N switch units, and the N switch units are connected one-to-one with the N motors to form N drive paths; the microcontroller unit is used to control the switch units to be turned on or off based on control signals, thereby controlling the drive paths corresponding to the switch units to be turned on or off.

[0018] In this embodiment, the microcontroller unit, acting as a controller, is a microcomputer chip integrating a processor core, memory, and programmable input / output interface. It is responsible for receiving external control commands, executing logic operations and motor control algorithms. The microcontroller unit outputs selection signals to the switching unit and drive control signals to the drive unit. The drive unit includes a drive chip and a drive circuit, used to convert the drive control signals output by the microcontroller unit into high-voltage, high-current signals sufficient to operate the drive circuit through the internal level conversion and amplification circuit of the drive chip. The switching unit includes power electronic devices capable of turning the circuit on or off. By receiving the selection signal sent by the microcontroller unit, it can quickly turn on or off, thereby controlling the on or off of the drive path corresponding to the switching unit.

[0019] For example, when the steering wheel is retracted into the dashboard in the autonomous driving mode of an electric vehicle to free up cabin space, external systems such as the vehicle controller send a retraction control signal to the microcontroller unit (MCU). Upon receiving this signal, the MCU determines the retraction motor that needs to be driven based on its internal preset logic. It then sends a high-level signal to the switching unit connected to that motor to turn it on, and a low-level signal to the switching units connected to other functional motors to turn them off. Simultaneously, the MCU sends a drive control signal to the drive unit, activating it and preparing to output power current. Once the switching unit connected to the retraction motor is turned on, its drive path becomes active. The power current output by the drive unit flows into the retraction motor through the activated drive path, driving it to rotate forward. This, in turn, moves the steering wheel backward via the transmission mechanism, achieving retraction. If steering wheel retraction needs to be stopped, the MCU stops sending high-level signals to the corresponding switching unit, causing the switching unit to open and the motor to stop.

[0020] Through the aforementioned architecture combining a single drive unit with multiple switching units, the microcontroller unit can selectively turn on or off the corresponding drive paths of multiple motors according to their control requirements, thereby achieving independent, time-sharing control of different motors. This design allows for the effective control of two or more motors working collaboratively using only one drive unit, realizing efficient reuse of the drive unit among multiple motors. On the one hand, it avoids the hardware redundancy caused by equipping each motor with a separate drive unit, significantly reducing the number of power stage chips and overall material costs. On the other hand, since drive units are usually high-cost, high-heat-generating core components in the system, the reuse design also simplifies the heat dissipation structure and circuit layout, improving the system's power density and reliability. Therefore, this architecture significantly reduces the overall hardware cost of the motor controller while ensuring independent and precise control of multiple motors. Furthermore, this solution is also applicable to vehicles with smart cockpits, and the steering wheel system can also be installed in vehicles with autonomous driving capabilities.

[0021] Optionally, the motor controller also includes a switch control unit; the microcontroller unit is connected to the switch control unit, and the switch control unit is connected to N switch units respectively; the microcontroller unit is used to send a selection signal to the switch control unit according to the control signal, and the switch control unit generates and sends an on / off control signal corresponding to each switch unit based on the selection signal; the switch units are used to turn on or off according to the on / off control signal.

[0022] In this embodiment of the application, the switch control unit is used to process the selection signal from the microcontroller unit and generate on / off control signals corresponding to each switch unit according to the selection signal, so as to achieve selective control of multiple switch units.

[0023] Specifically, during operation, the microcontroller sends a selection signal to the switch control unit based on the control signal. The switch control unit parses the selection signal and converts it into multiple on / off control signals, which are then output to the corresponding switch units, thereby controlling each switch unit to independently turn on or off according to control requirements.

[0024] The above method enables the allocation and control of multiple switching units by a single selection signal, allowing multiple drive paths to be selectively switched. This improves the flexibility and scalability of system control, while reducing the complexity of control signals and the resource consumption of the microcontroller unit.

[0025] Optional, refer to Figure 2 The switch control unit includes a high-side drive chip; the microcontroller unit is connected to the high-side drive chip, and the high-side drive chip is connected to N switch units respectively; the high-side drive chip is used to generate on / off control signals corresponding to each switch unit based on the selection signal and send them to the switch units.

[0026] In this embodiment, the microcontroller unit receives control signals sent by an external system and calls the drive function of the high-side driver chip through Serial Peripheral Interface (SPI) communication according to the control signals, thereby generating a selection signal and sending it to the high-side driver chip. The selection signal is used to indicate the switching unit that needs to be turned on or off. The high-side driver chip processes the selection signal and converts it into on / off control signals corresponding to each switching unit. The switching unit is a power switching device used to turn on or off after receiving the on / off control signal, thereby controlling the on / off state of the corresponding drive path.

[0027] For example, an external system such as the vehicle controller sends a retraction control signal to the microcontroller unit (MCU). This retraction control signal contains target action information, such as steering wheel retraction. After receiving the retraction control signal, the MCU performs internal preset logic operations and, after determining that the current vehicle speed, gear, and steering wheel angle meet the retraction safety conditions, generates a corresponding selection signal. This selection signal indicates that the retraction motor needs to be driven to rotate forward to retract the steering wheel. The MCU outputs the selection signal to the high-side drive chip, which performs level conversion on the selection signal, generating a high-level signal and a low-level signal. The high-level signal is input to the switching unit controlling the forward rotation drive path, turning on the corresponding forward rotation drive path of the switching unit, thereby completing the steering wheel retraction. At the same time, the low-level signal is input to the switching units corresponding to other functions, turning off their corresponding drive paths and stopping the control of other function motors.

[0028] Through the above method, the microcontroller achieves selective control of each switching unit, and the high-side driver chip completes the reliable conversion between the weak current selection signal and the strong current on / off control signal, enabling each switching unit to respond to control commands independently and accurately. Since the logic operation of the microcontroller is separated from the power drive of the switching unit, and the switching unit directly controls the drive path, the entire motor controller has a fast response speed and high control accuracy, which can meet the requirements for position accuracy and smooth movement during the steering wheel storage process.

[0029] Optionally, the switch control unit includes a MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) driving circuit; the microcontroller unit is connected to the MOS driving circuit, and the MOS driving circuit is connected to N switch units respectively; the MOS driving circuit is used to generate an on / off control signal corresponding to each switch unit based on the selection signal and send it to the switch unit.

[0030] In this embodiment, the MOS driving circuit is a power driving circuit based on MOS devices, used to generate corresponding on / off control signals according to the selection signals sent by the microcontroller unit, and to drive and control the switching unit to achieve selective on / off control of multiple driving paths.

[0031] During operation, the microcontroller outputs a selection signal to the MOS drive circuit based on the control signal. The MOS drive circuit performs level conversion and drive amplification on the selection signal, and generates on / off control signals corresponding to each switching unit, which are then output to the corresponding switching unit to control each switching unit to turn on or off according to control requirements. For example, when the selection signal indicates a target drive path, the MOS drive circuit drives the corresponding MOS transistor to turn on, connecting its drive path and thus realizing the drive control of the corresponding motor.

[0032] Optionally, the switching unit includes a controllable on / off component; the controllable on / off component is connected to the switch control unit; The microcontroller unit is connected to the drive unit, the drive unit is connected to the controllable switching component, and the controllable switching component is connected to the motor to form a drive path. The controllable switching component is used to turn on or off according to the on / off control signal, thereby controlling the drive path to turn on or off.

[0033] In this embodiment of the application, the controllable switching component is a power switching device used to realize circuit switching control, which is used to control the conduction or disconnection of the corresponding drive path according to the switching control signal, thereby realizing selective drive control of the motor.

[0034] For example, the motor is a brushed motor, and the controllable on / off component is implemented using MOS switching devices and controlled by a MOS driving circuit. The MOS driving circuit is connected to the microcontroller unit, and the MOS switching devices are connected to the MOS driving circuit. The microcontroller unit is connected to the driving unit, and the driving unit is connected to multiple MOS switching devices. The multiple MOS switching devices are connected to the brushed motors they control one by one, forming multiple driving paths. The MOS switching devices perform single-channel on / off control of the driving path of the brushed motor to realize the start and stop control of the motor.

[0035] During operation, the MOS drive circuit generates an on / off control signal based on the selection signal sent by the microcontroller unit, and sends the on / off control signal to the MOS switching device. The MOS switching device turns on or off according to the on / off control signal. When it is on, the drive path of the brushed motor corresponding to the MOS switching device is connected, the motor receives power and starts running; when it is off, the drive path of the brushed motor corresponding to the MOS switching device is disconnected, and the motor stops running.

[0036] For example, the motor is a brushless motor, including a u-phase, a v-phase, and a w-phase. The controllable switching component is implemented using MOS switching devices and controlled by a MOS driving circuit. The MOS driving circuit is connected to the microcontroller unit, and the MOS switching devices are connected to the MOS driving circuit. The microcontroller unit is connected to the driving unit, and the driving unit is connected to multiple MOS switching devices. The multiple MOS switching devices correspond to each phase winding of the brushless motor and are connected to them one by one to form multiple phase driving paths. The MOS switching devices are used to selectively control the on / off switching of each phase driving path of the brushless motor to realize the commutation drive of the brushless motor.

[0037] During operation, the MOS drive circuit generates on / off control signals based on the selection signals sent by the microcontroller unit, and sends the on / off control signals to the corresponding MOS switching devices. The MOS switching devices turn on or off according to the on / off control signals. When on, the brushless motor drive path of the corresponding phase is connected; when off, the drive path of the corresponding phase is disconnected. By having multiple MOS switching devices operate sequentially according to the preset commutation logic, the cyclic on / off control of the u-phase, v-phase, and w-phase windings is realized, thereby driving the brushless motor to run.

[0038] The above method enables the conversion and amplification of low-voltage control signals into power drive signals by the MOS drive circuit, allowing the MOS switching devices to respond quickly to commands, thereby achieving rapid on / off control of the drive path. This allows multiple motors to achieve independent control while sharing drive resources, thereby improving the system's control flexibility, resource utilization, and overall operational stability.

[0039] Optional, refer to Figure 3 The motor is a brushed motor; the controllable switching component includes a first electromagnetic coil and a first contact assembly; one end of the first electromagnetic coil is connected to the switch control unit, and the other end of the first electromagnetic coil is grounded, forming a first switching path; the microcontroller unit, the drive unit, the first contact assembly, and the motor form a drive path; when the switching control signal is high, the first switching path is open, the first electromagnetic coil is energized and generates electromagnetic force, so that the contact assembly is in a conducting state, thereby controlling the drive path to be open, and thus starting to drive the motor; when the switching control signal is low, the first switching path is closed, the first electromagnetic coil is not energized and loses electromagnetic force, so that the contact assembly is in a disconnected state, thereby controlling the drive path to be disconnected, and thus stopping the drive of the motor.

[0040] In this embodiment, the selected motor for controlling the retraction of the steering wheel is a brushed motor. Therefore, the switching unit uses a first electromagnetic coil and a first contact assembly to form a positive relay. When the first electromagnetic coil is energized, it generates an electromagnetic force. The first contact assembly is driven by the electromagnetic force to either conduct or disconnect, thereby achieving on / off control of the drive path. When the on / off control signal is high, the first electromagnetic coil is energized and generates an electromagnetic force, causing the first contact assembly to switch from an off state to a conducting state, thus enabling the drive path to conduct and drive the motor. When the on / off control signal is low, the first electromagnetic coil does not generate an electromagnetic force, causing the first contact assembly to switch from a conducting state to an off state, thus disconnecting the drive path and stopping the drive of the motor.

[0041] For example, after the high-side drive chip inputs a high-level signal to the forward drive path that controls the steering wheel retraction, the first electromagnetic coil on the forward drive path is energized, generating an electromagnetic force. This electromagnetic force overcomes the spring force of the reset spring in the first contact assembly, driving the moving contact in the first contact assembly to contact the stationary contact, causing the first contact assembly to switch from a normally open, disconnected state to a conducting state. At this time, the forward drive path is turned on, the steering wheel retraction motor receives positive power, and then executes the steering wheel retraction action through the transmission mechanism, moving the steering wheel backward from the driver's position. When the high-side drive chip inputs a low-level signal to the switching unit corresponding to other functions, the voltage across the first electromagnetic coil of the other switching unit is zero, no current flows through the coil, the electromagnetic force disappears, and under the action of the spring force of the reset spring in the corresponding first contact assembly, the moving contact separates from the stationary contact, causing the first contact assembly to switch from a conducting state back to an open state, disconnecting its corresponding drive path, and stopping the control of other function motors.

[0042] In this way, since the brushed motor is a two-terminal power supply structure, its rotation can be achieved simply by applying voltage to the two ends of the motor, without the need for multi-phase switching control. Therefore, reliable on-off control of the motor drive can be achieved by setting a positive relay, which reduces circuit complexity and control difficulty, and improves the safety and stability of the motor controller. In addition, electromagnetic isolation between the electromagnetic coil and the drive path further improves the anti-interference capability of the motor controller.

[0043] Optional, refer to Figure 4The motor is a brushless motor; the controllable on / off component includes two second electromagnetic coils and two second contact assemblies; one end of one second electromagnetic coil is connected to the switch control unit, and the other end of the other second electromagnetic coil is grounded, forming a second on / off path; one end of the other second electromagnetic coil is connected to the switch control unit, and the other end of the other second electromagnetic coil is grounded, forming another second on / off path; the microcontroller unit, the drive unit, one second contact assembly, and the motor form a drive path; the microcontroller unit, the drive unit, the other second contact assembly, and the motor form another drive path; when the on / off control signal is high, the second on / off path is open, the second electromagnetic coil is energized to generate electromagnetic force, so that the contact assembly is in a conducting state, thereby controlling the drive path to be open, and thus starting to drive the motor; when the on / off control signal is low, the second on / off path is open, the second electromagnetic coil is not energized and loses electromagnetic force, so that the contact assembly is in a disconnected state, thereby controlling the drive path to be disconnected, and thus stopping the drive of the motor.

[0044] In this embodiment, the selected motor for controlling the retraction of the steering wheel is a brushless motor. Therefore, the switching unit uses a second electromagnetic coil and a second contact assembly to form a U-phase relay, and another second electromagnetic coil and another second contact assembly to form a V-phase relay. The U-phase relay and the V-phase relay work together to realize the switching of the switching unit.

[0045] For example, after the high-side drive chip inputs a high-level signal to the forward drive path controlling the steering wheel retraction, the second electromagnetic coils of the U-phase relay and the V-phase relay are simultaneously energized, each generating an electromagnetic force. Each electromagnetic force overcomes the spring force of the return spring in its corresponding second contact assembly, driving the moving contact in the second contact assembly to contact the stationary contact, causing both the U-phase and V-phase relays to switch from their normally open, disconnected state to their conducting state. At this time, the forward drive path is activated, and the corresponding two-phase windings of the brushless motor receive forward power, driving the steering wheel retraction motor to rotate forward. This, in turn, executes the steering wheel retraction action through the transmission mechanism, moving the steering wheel backward from the driver's position. When stopping is required, the high-side drive chip outputs a low-level signal, the second electromagnetic coils of the U-phase and V-phase relays are simultaneously de-energized, the electromagnetic force disappears, the return spring causes the contacts to open again, and the motor stops.

[0046] By setting up U-phase and V-phase relays, different phase paths can be controlled separately, enabling selective conduction and switching of each phase path. This allows for normal driving of the brushless motor, improving drive flexibility while meeting multi-phase control requirements. Furthermore, compared to brushed motors paired with positive relays, brushless motors offer advantages such as higher efficiency, longer lifespan, lower noise, and less electromagnetic interference, making them particularly suitable for automotive applications with high requirements for comfort and reliability.

[0047] Optional, refer to Figure 2 The drive unit includes a drive chip and a drive bridge circuit; the microcontroller unit is connected to the drive chip, the drive chip is connected to the drive bridge circuit, and the drive bridge circuit is connected to N switching units respectively; the microcontroller unit is used to send drive control signals to the drive chip according to the control signals, the drive chip generates drive signals based on the drive control signals, and the drive signals are used to control the drive bridge circuit to start driving the motor when the drive path is turned on.

[0048] In this embodiment, the microcontroller unit calls the driver chip's drive function via SPI communication according to the control signal, thereby causing the driver chip to generate a drive level, i.e., a drive signal. The drive level causes different arms of the drive bridge circuit to conduct sequentially, thereby generating a rotating magnetic field to drive the motor to rotate forward or reverse. The drive bridge circuit consists of multiple power transistors, such as MOSFETs or bipolar transistors, and the drive level is used to control the gate level of the MOSFET or the base level of the bipolar transistor. For example, after the microcontroller receives a retraction control signal from an external system such as the vehicle controller, the microcontroller determines that the motor needs to rotate forward based on the retraction control signal and sends a drive control signal to the drive chip. This drive control signal is a pulse width modulation (PWM) signal, which is used to indicate the conduction sequence and duty cycle of each phase bridge arm. After receiving the PWM signal, the drive chip converts it into a drive signal that can control the power switches in the drive bridge circuit and outputs it to the drive bridge circuit respectively. Each power switch in the drive bridge circuit turns on or off in sequence according to the drive signal, forming a rotating magnetic field that drives the retraction motor to rotate forward. In turn, the transmission mechanism drives the steering wheel to move backward from the driver's position, thus realizing the retraction action.

[0049] The above method enables hierarchical processing between control signals and drive signals, isolating low-voltage control from high-power execution, thereby improving the control accuracy, drive capability, and operational stability and safety of the motor controller.

[0050] Optional, refer to Figure 2 The motor controller also includes a power processing unit; the input of the power processing unit is connected to an external power source, and the output of the power processing unit is connected to the drive unit and the microcontroller unit respectively. The power processing unit is used to provide a stable power supply to the drive unit and the microcontroller unit.

[0051] In this embodiment, the power processing unit filters, provides overvoltage protection, overcurrent protection, and voltage conversion for the external power supply, which provides raw power to the entire motor controller.

[0052] For example, the external power source is the vehicle power source, which transmits electrical energy to the power processing unit through a fuse. The power processing unit filters the input electrical energy, provides overvoltage and overcurrent protection, and outputs a stable low-voltage power source (such as 5V / 3.3V) to supply the microcontroller unit, while retaining a high-voltage path (such as 12V) to supply the drive unit.

[0053] In this way, the power processing unit filters out ripple and spike interference in the power supply, providing a clean and stable operating voltage for the microcontroller unit, avoiding logic confusion or reset caused by vehicle power fluctuations; at the same time, through overvoltage and overcurrent protection functions, dangerous power is cut off or limited when the vehicle power supply is abnormal (such as load dump or short circuit), protecting the microcontroller unit and drive unit from damage, thereby significantly improving the reliability of the motor controller.

[0054] Optional, refer to Figure 2 The power processing unit includes a reverse connection protection circuit, a power relay, a filter, and a power chip. One end of the reverse connection protection circuit is connected to an external power supply, the other end of the reverse connection protection circuit is connected to one end of the power relay, the other end of the power relay is connected to one end of the filter, the other end of the filter is connected to the drive unit, and the external power supply is also connected to the microcontroller unit through the power chip.

[0055] The motor controller also includes a signal transceiver, which receives control signals and sends them to the microcontroller unit.

[0056] In this embodiment, the reverse connection protection circuit is a monitoring circuit to prevent the positive and negative terminals of the external power supply from being reversed. The power relay cuts off the external main power supply when the motor controller is in standby or malfunctioning. The filter is used to filter out ripple and electromagnetic interference in the input power supply. The power chip converts the input voltage into a stable low voltage required by the microcontroller unit.

[0057] For example, during the steering wheel retraction initiation process, the DC power from the vehicle's power supply first enters the reverse connection protection circuit for polarity determination. When the polarity is correct, it is introduced into the motor controller, and then the power relay controls the power supply to be turned on or off. After being turned on, the power supply is filtered by a filter to reduce noise and ripple interference. When input to the drive bridge circuit, the external power supply is regulated and converted by the power chip before being output to the microcontroller unit, thereby ensuring that the microcontroller unit can correctly receive the retraction command and output the drive control signal, ultimately driving the retraction motor to complete the steering wheel retraction action of moving backward.

[0058] Through the above processing, the safety protection of the input power supply, stable power supply and anti-interference ability are achieved, thereby improving the reliability and stability of the motor controller operation.

[0059] In this embodiment, the transceiver is a Controller Area Network (CAN) transceiver. The CAN transceiver receives control signals sent by external systems via the CAN bus, converts them into signals that the microcontroller unit can recognize, and inputs them to the microcontroller unit.

[0060] For example, the CAN transceiver connects to the vehicle's CAN bus via differential data lines CAN_H and CAN_L, monitoring data frames on the bus in real time. When the vehicle controller issues a steering wheel retraction command, this command is transmitted on the CAN bus as a differential signal. The CAN transceiver receives these differential signals, decodes them, and converts them into single-ended logic level signals that can be recognized by the CAN controller inside the microcontroller. Subsequently, the CAN controller inside the microcontroller performs protocol parsing on this signal, extracts the steering wheel retraction command, and triggers subsequent logic operations and drive outputs, ultimately completing the steering wheel retraction action.

[0061] In the above process, the CAN transceiver ensures that external commands can be transmitted to the microcontroller unit safely and reliably.

[0062] Optional, refer to Figure 2 The motor controller also includes a current acquisition unit, a voltage acquisition unit, and a temperature sensor. The input terminal of the current acquisition unit is connected to the drive unit, and the output terminal of the current acquisition unit is connected to the microcontroller unit. It is used to acquire the current value of the drive unit and feed it back to the microcontroller unit. When the microcontroller unit determines that the current value is within the normal current threshold range, it controls the drive unit to drive the motor. The input terminal of the voltage acquisition unit is connected to the drive unit, and the output terminal of the voltage acquisition unit is connected to the microcontroller unit. It is used to acquire the voltage value of the drive unit and feed it back to the microcontroller unit. When the microcontroller unit determines that the voltage value is within the normal voltage threshold range, it controls the drive unit to drive the motor. The temperature sensor is connected to the microcontroller unit and is used to feed back the acquired motor temperature to the microcontroller unit. When the microcontroller unit determines that the temperature is within the normal temperature threshold range, it controls the drive unit to drive the motor.

[0063] In this embodiment, the current acquisition unit uses a precision sampling resistor combined with a differential operational amplifier and an analog-to-digital converter. Based on the low-side resistor and differential operational amplifier scheme, it completes the real-time acquisition of motor current. The voltage acquisition unit uses a precision voltage divider resistor network combined with an operational amplifier voltage follower, as well as a low-pass filter and an analog-to-digital converter. Based on the resistor voltage divider and operational amplifier follower scheme, it completes the real-time acquisition of motor phase voltage. The temperature sensor uses a negative temperature coefficient thermistor combined with a fixed resistor voltage divider, as well as a low-pass filter and an analog-to-digital converter to complete the real-time acquisition of motor temperature.

[0064] For example, during the steering wheel folding process, the current acquisition unit, connected in series on the low side of the drive bridge circuit, converts the motor winding current into a weak voltage signal using a precision sampling resistor. This signal is then amplified by a differential operational amplifier and sent to the microcontroller unit. The voltage acquisition unit uses a resistor divider network to reduce the motor phase voltage to the safe range of the analog-to-digital converter. After being followed and filtered by an operational amplifier, the voltage is sent to the microcontroller unit. The temperature sensor uses a negative temperature coefficient thermistor mounted close to the motor housing. It converts temperature changes into voltage changes through a voltage divider circuit. The microcontroller unit reads this and converts it into the actual temperature. Based on the feedback signals, the microcontroller unit makes a status judgment. When all parameters are within the normal range, it controls the drive unit to maintain normal operation. When any parameter is abnormal, it controls the drive unit to perform protective control.

[0065] Through the above processing, real-time monitoring and closed-loop adjustment of the motor controller's operating status can be achieved, thereby improving the control accuracy and response speed of the motor controller, while also enhancing its safety protection capabilities and operational stability.

[0066] Optional, refer to Figure 2 and 3 The motor is a brushed motor; the drive bridge circuit includes four switching devices, which are divided into two groups. Each group includes two switching devices connected in series, and the two switching devices in each group form a bridge arm. Each bridge arm is connected in parallel, and the midpoint of each bridge arm is connected to the motor. The midpoint of each bridge arm is connected to N switching units, and the N switching units are connected to N motors in a one-to-one correspondence.

[0067] Or, refer to Figure 4 and 5 The motor is a brushless motor; the drive bridge circuit includes six switching devices, which are divided into three groups. Each group includes two switching devices connected in series, forming a bridge arm. Each bridge arm is connected in parallel, and the midpoint of each bridge arm is connected to the motor. The midpoint of each bridge arm is connected to N switching units, and the N switching units are connected to N motors in a one-to-one correspondence. The switching devices are MOSFETs.

[0068] In this embodiment, the selected motor for controlling the retraction of the steering wheel is a brushed motor, and the drive bridge circuit is a drive H-bridge circuit composed of four MOS transistors. The drive H-bridge circuit can switch the voltage direction at both ends of the brushed motor by controlling the bridge arm switching device. The forward and reverse rotation of the brushed motor can be achieved by changing the polarity of the voltage at both ends.

[0069] For example, when the microcontroller determines that the motor needs to rotate forward to retract the steering wheel, it outputs a corresponding PWM signal to the driver chip. The driver chip amplifies the signal and controls the first upper arm MOSFET and the second lower arm MOSFET in the H-bridge drive circuit to conduct simultaneously, while the first lower arm MOSFET and the second upper arm MOSFET remain off. At this time, current flows from the positive terminal of the power supply through the first upper arm into the motor windings, then flows out of the motor through the second lower arm back to the power supply ground. The motor rotates forward, causing the steering wheel to move backward through the transmission mechanism. When it is necessary to stop, the microcontroller stops outputting the PWM signal, all MOSFETs turn off, and the motor stops by inertia or mechanical braking. If it is necessary to unfold the steering wheel back to its original position, the microcontroller controls the second upper arm MOSFET and the first lower arm MOSFET to conduct, causing the current to flow in reverse through the motor. The motor reverses direction, driving the steering wheel forward to the driver's position.

[0070] By alternately turning the four MOSFETs in the drive H-bridge circuit on and off, the microcontroller unit can precisely control the forward and reverse rotation and start and stop of the motor, thereby realizing the reliable operation of steering wheel retraction and unfolding. Therefore, the drive H-bridge circuit can easily realize the forward and reverse rotation control of the brushed motor, and has the advantages of simple structure and flexible control.

[0071] In addition, such as Figure 6 As shown in the example, this application uses three brushed motors as an example. The process from powering on the vehicle to controlling the brushed motors is as follows: S1.1 The vehicle controller sends control signals.

[0072] After the vehicle is powered on, external systems such as the vehicle controller send control signals to the microcontroller unit.

[0073] S1.2 Determine the motor to be activated based on the control signal, and generate a selection signal based on the motor.

[0074] The microcontroller performs logical operations based on the control signal, determines which brushed motors need to perform actions and which do not based on the results of the logical operations, and generates a selection signal based on this and sends it to the high-side driver chip. If the selection signal indicates that brushed motor 1 needs to perform an action and brushed motors 2 and 3 do not perform an action, then step S1.3 is executed. If the selection signal indicates that brushed motor 2 needs to perform an action and brushed motors 1 and 3 do not perform an action, then step S1.4 is executed. If the selection signal indicates that brushed motor 3 needs to perform an action and brushed motors 1 and 2 do not perform an action, then step S1.5 is executed.

[0075] S1.3 The high-side drive chip causes positive relay 1 to engage, while positive relays 2 and 3 disengage.

[0076] According to the selection signal, the high-side drive chip inputs a high level to the positive relay 1 corresponding to brush motor 1, causing the positive relay 1 to be energized; inputs a low level to the positive relay 2 corresponding to brush motor 2, causing the positive relay 2 to be de-energized; and inputs a low level to the positive relay 3 corresponding to brush motor 3, causing the positive relay 3 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving brush motor 1. After brush motor 1 starts working, step S1.6 is executed.

[0077] S1.4 The high-side drive chip causes positive relay 2 to engage, while positive relay 1 and positive relay 3 are disengaged.

[0078] According to the selection signal, the high-side drive chip inputs a high level to the positive relay 2 corresponding to the brushed motor 2, causing the positive relay 2 to be energized; inputs a low level to the positive relay 1 corresponding to the brushed motor 1, causing the positive relay 1 to be de-energized; and inputs a low level to the positive relay 3 corresponding to the brushed motor 3, causing the positive relay 3 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving the brushed motor 2. After the brushed motor 2 starts working, step S1.6 is executed.

[0079] S1.5, the high-side drive chip causes the positive relay 3 to engage, while the positive relay 1 and positive relay 2 are disengaged.

[0080] According to the selection signal, the high-side drive chip inputs a high level to the positive relay 3 corresponding to the brushed motor 3, causing the positive relay 3 to be energized; inputs a low level to the positive relay 1 corresponding to the brushed motor 1, causing the positive relay 1 to be de-energized; and inputs a low level to the positive relay 2 corresponding to the brushed motor 2, causing the positive relay 2 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving the brushed motor 3. After the brushed motor 3 starts working, step S1.6 is executed.

[0081] S1.6 When driving the motor using the H-bridge circuit, determine whether the current and voltage are within the normal threshold.

[0082] During motor operation, the current acquisition unit collects the motor current value in real time, and the voltage acquisition unit collects the motor voltage value in real time. The current value and voltage value are fed back to the microcontroller unit. The microcontroller unit determines whether the current value meets the normal current threshold and whether the voltage value meets the normal voltage threshold. If both meet the threshold, step S1.7 is executed. If either does not meet the threshold, the microcontroller unit terminates the drive of the motor.

[0083] S1.7 Whether the preset target position has been reached.

[0084] The microcontroller determines whether the motor has moved to the preset target position. If not, the microcontroller continues to control the motor driver chip, which in turn controls the H-bridge circuit to drive the motor until the motor moves to the preset target position. At this point, the microcontroller terminates the drive of the motor. If the motor has moved to the preset target position, the microcontroller terminates the drive of the motor.

[0085] like Figure 2 As shown, the voltage and current are collected during the driving process through Va and Ia feedback. When the high-side driving chip controls the positive relay 1 to be energized, Va and Ia represent the current and voltage states of the brushed motor 1. When the positive relay 2 or 3 is energized, Va and Ia represent the voltage and current states of the brushed motor 2 or 3.

[0086] In this embodiment, the selected motor for controlling the retraction of the steering wheel is a brushless motor, and the drive bridge circuit is a three-phase bridge drive circuit composed of six MOS transistors, thereby forming a V-phase bridge arm, a U-phase bridge arm, and a W-phase bridge arm. The three-phase bridge drive circuit can switch the current of each phase by controlling the switching devices of each bridge arm, thereby controlling the on and off of each phase winding in a certain order to achieve commutation.

[0087] Specifically, when the microcontroller determines that the motor needs to be driven to rotate forward to retract the steering wheel, the microcontroller determines the winding phase sequence to be turned on (e.g., turn on the U-phase and V-phase first, then the W-phase) based on the current rotor position detected by the Hall sensor or back EMF, and outputs the corresponding six PWM signals to the driver chip. After the driver chip amplifies the signals, it controls the upper U-phase bridge arm and the lower V-phase bridge arm in the three-phase bridge circuit to be turned on simultaneously, while the other bridge arms remain off. At this time, the current flows from the positive terminal of the power supply through the upper U-phase bridge arm into the U-phase winding of the motor, and then flows out from the V-phase winding of the motor through the lower V-phase bridge arm back to the power supply ground, generating a composite magnetic field to drive the rotor to rotate at a certain angle. As the rotor rotates through a predetermined angle, the microcontroller sequentially switches the conduction phase sequence based on position feedback (e.g., from uv to vw, then to wu). The drive chip correspondingly controls the sequential switching of each arm in the three-phase bridge, causing the motor windings to generate a continuous rotating magnetic field. This drives the motor to rotate continuously forward, moving the steering wheel backward from the driver's position until it is fully retracted via the transmission mechanism. When stopping, the microcontroller stops outputting PWM signals, all six MOSFETs in the three-phase bridge circuit are turned off, the motor is de-energized, and the steering wheel stops at the target position. If the steering wheel needs to be extended back to its original position, the microcontroller activates the phase arms in the reverse order (e.g., first activating the upper v-phase arm and the lower u-phase arm), causing the current to flow backward through the motor windings. This reverses the motor's rotation, driving the steering wheel forward to the driver's position.

[0088] By sequentially turning on and off the six MOSFETs in the three-phase bridge circuit, the microcontroller unit can achieve smooth, low-noise, and high-efficiency control of the brushless motor, thereby ensuring the accuracy and reliability of the steering wheel retraction action.

[0089] In addition, such as Figure 7 As shown in the example, this application uses three brushless motors as an example. The process from powering on the vehicle to controlling the brushless motors is as follows: S2.1 The vehicle controller sends control signals.

[0090] After the vehicle is powered on, external systems such as the vehicle controller send control signals to the microcontroller unit.

[0091] S2.2 Determine the motor to be activated based on the control signal, and generate a selection signal based on the motor.

[0092] The microcontroller performs logical operations based on the control signal, determines which brushless motors need to perform actions and which do not based on the results of the logical operations, and generates a selection signal based on this and sends it to the high-side driver chip. If the selection signal indicates that brushless motor 1 needs to perform an action and brushless motors 2 and 3 do not perform an action, then step S2.3 is executed. If the selection signal indicates that brushless motor 2 needs to perform an action and brushless motors 1 and 3 do not perform an action, then step S2.4 is executed. If the selection signal indicates that brushless motor 3 needs to perform an action and brushless motors 1 and 2 do not perform an action, then step S2.5 is executed.

[0093] S2.3 The high-side drive chip causes u-direction relay 1 and v-direction relay 1 to engage, while u-direction relay 2 and v-direction relay 2, u-direction relay 3 and v-direction relay 3 to disengage.

[0094] According to the selection signal, the high-side drive chip inputs a high level to the u-direction relay 1 and v-direction relay 1 corresponding to brushless motor 1, causing u-direction relay 1 and v-direction relay 1 to be energized. It inputs a low level to the u-direction relay 2 and v-direction relay 2 corresponding to brushless motor 2, causing u-direction relay 2 and v-direction relay 2 to be de-energized. It inputs a low level to the u-direction relay 3 and v-direction relay 3 corresponding to brushless motor 3, causing u-direction relay 3 and v-direction relay 3 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving brushless motor 1. After brushless motor 1 starts working, step S2.6 is executed.

[0095] S2.4 The high-side drive chip causes u-direction relay 2 and v-direction relay 2 to engage, while u-direction relay 1 and v-direction relay 1, u-direction relay 3 and v-direction relay 3 are disengaged.

[0096] According to the selection signal, the high-side drive chip inputs a high level to the u-direction relay 2 and v-direction relay 2 corresponding to the brushless motor 2, causing the u-direction relay 2 and v-direction relay 2 to be energized. It inputs a low level to the u-direction relay 1 and v-direction relay 1 corresponding to the brushless motor 1, causing the u-direction relay 1 and v-direction relay 1 to be de-energized. It inputs a low level to the u-direction relay 3 and v-direction relay 3 corresponding to the brushless motor 3, causing the u-direction relay 3 and v-direction relay 3 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving the brushless motor 2. After the brushless motor 2 starts working, step S2.6 is executed.

[0097] S2.5 The high-side drive chip causes u-direction relay 3 and v-direction relay 3 to engage, while u-direction relay 1 and v-direction relay 1, u-direction relay 2 and v-direction relay 2 are disengaged.

[0098] According to the selection signal, the high-side drive chip inputs a high level to the u-direction relay 3 and v-direction relay 3 corresponding to the brushless motor 3, causing the u-direction relay 3 and v-direction relay 3 to be energized. It inputs a low level to the u-direction relay 1 and v-direction relay 1 corresponding to the brushless motor 1, causing the u-direction relay 1 and v-direction relay 1 to be de-energized. It inputs a low level to the u-direction relay 2 and v-direction relay 2 corresponding to the brushless motor 2, causing the u-direction relay 2 and v-direction relay 2 to be de-energized. Thus, the motor drive chip controls the drive H-bridge circuit to start driving the brushless motor 3. After the brushless motor 3 starts working, step S2.6 is executed.

[0099] S2.6 When the three-phase bridge drive circuit drives the motor, determine whether the current and voltage are within the normal threshold.

[0100] During motor operation, the current acquisition unit collects the motor current value in real time, and the voltage acquisition unit collects the motor voltage value in real time. The current value and voltage value are fed back to the microcontroller unit. The microcontroller unit determines whether the current value meets the normal current threshold and whether the voltage value meets the normal voltage threshold. If both meet the threshold, step S2.7 is executed. If either does not meet the threshold, the microcontroller unit terminates the drive of the motor.

[0101] S2.7 Whether the preset target position has been reached.

[0102] The microcontroller determines whether the motor has moved to the preset target position. If not, the microcontroller continues to control the motor driver chip, which in turn controls the H-bridge circuit to drive the motor until the motor moves to the preset target position. At this point, the microcontroller terminates the drive of the motor. If the motor has moved to the preset target position, the microcontroller terminates the drive of the motor.

[0103] like Figure 5As shown, the voltage and current are collected during the driving process through Va and Ia feedback. When the high-side drive chip controls the u-phase and v-phase relay 1 to be energized, Va and Ia represent the current and voltage states of the brushless motor 1. When the high-side drive chip controls the u-phase and v-phase relay 2 or 3 to be energized, Va and Ia represent the current and voltage states of the brushless motor 2 or 3.

[0104] Optional, refer to Figure 2 The motor controller also includes a crystal oscillator; the crystal oscillator is connected to the microcontroller unit to provide a clock signal, and the microcontroller unit generates a drive control signal based on the clock signal to control the drive unit.

[0105] In the embodiments of this application, a crystal oscillator is an electronic component capable of generating a stable frequency and providing a precise clock signal for a microcontroller unit.

[0106] Specifically, after the motor controller is powered on, the crystal oscillator and the internal oscillation circuit of the microcontroller unit oscillate together, generating a stable reference clock signal, which is then sent to the microcontroller unit. The microcontroller unit relies on this clock signal for initialization and logic operations, ensuring that upon receiving a retraction command, it can accurately execute the commutation timing, generate a PWM signal, and control the drive bridge circuit, thereby driving the motor to smoothly move the steering wheel backward, completing the retraction action. Without a stable crystal oscillator, the timing of the microcontroller unit will be disordered, potentially causing the steering wheel retraction action to stall, lose synchronization, or the system to malfunction.

[0107] Through the above process, the crystal oscillator significantly improves the control accuracy, consistency, communication reliability, and fault safety of the steering wheel storage control system.

[0108] Optional, refer to Figure 2 One end of the reverse connection protection circuit is grounded, and the other end of the reverse connection protection circuit is also grounded; the signal transceiver receives control signals through the CAN bus; the CAN bus includes CAN_H line and CAN_L line; one end of the CAN_H line is connected to the external system, and the other end of the CAN_H line is connected to the signal transceiver; one end of the CAN_L line is connected to the external system, and the other end of the CAN_L line is connected to the signal transceiver.

[0109] In this embodiment, the reverse connection protection circuit is a protective circuit used to prevent damage to subsequent electronic components when the positive and negative terminals of the power supply are reversed. It typically consists of a power diode connected in series in the power supply path or a MOSFET connected in parallel with the power supply in reverse polarity. When the power supply polarity is correct, it conducts normally, providing a current path for subsequent circuits; when the power supply polarity is reversed, the diode is reverse-biased and the MOSFET is turned off, thereby blocking the current and preventing subsequent components such as power relays, filters, power chips, and microcontroller units from burning out due to reverse voltage.

[0110] Therefore, the reverse connection protection circuit can prevent damage to the entire motor controller caused by incorrect connection of the battery positive and negative terminals during maintenance or assembly, significantly improving the robustness and safety of the entire vehicle system.

[0111] In the embodiments of this application, the CAN_L line and the CAN_H line are two differential signal lines that constitute the physical layer of the CAN bus. They work together to transmit data, and their function is to convert the single-ended logic level signal generated by the external system into a pair of differential voltage signals that are opposite to each other.

[0112] During steering wheel folding control, the CAN_L and CAN_H lines are responsible for reliably transmitting the folding command issued by the vehicle controller to the CAN transceiver, ensuring that the command is not erroneous or lost. The ultimate effect is to achieve long-distance, highly reliable, real-time data exchange between the motor controller and other vehicle modules, guaranteeing accurate response to the folding command.

[0113] Optional, refer to Figure 8 A steering wheel system includes the aforementioned motor controller, a steering wheel 100, an adjustment component 200, and at least two motors 300; the steering wheel 100 is connected to the adjustment component 200; the adjustment component is connected to at least two motors 300; the at least two motors 300 are respectively connected to the motor controller, and the motor controller is used to drive the at least two motors 300 to move, so that the adjustment component 200 drives the steering wheel 100 to move.

[0114] In this embodiment, the motor controller serves as the control core, responsible for receiving external commands and driving the motor 300 to operate; the steering wheel 100 is the driver's control component, and its position can be adjusted when needed, or it can be retracted to free up space; the adjustment component 200 includes a transmission mechanism and a fixing structure, used to convert the rotational motion of the motor 300 into the linear displacement, pitch position, or folding action of the steering wheel 100; multiple motors 300 are used to adjust the angle or position of the steering wheel 100, and they respectively perform different functions such as retraction and posture adjustment, together realizing the on-demand retraction and precise reset of the steering wheel 100.

[0115] Specifically, during the steering wheel 100 folding process, after receiving the folding command, the motor controller drives the corresponding motor 300 to rotate forward. This, through the transmission mechanism in the adjustment assembly 200, moves the steering wheel 100 downwards or backwards from the driver's position until it is fully folded to the folded position. The folded state of the steering wheel is as follows: Figure 9 As shown; during the unfolding process of the steering wheel 100, after receiving the unfolding command, the motor controller drives the same motor 300 to rotate in the opposite direction, and through the adjustment component 200, smoothly pushes the steering wheel 100 from the storage position back to the driving position, restoring it to its usable state. The extended and unfolded state of the steering wheel is as shown. Figure 10 As shown.

[0116] Through the above process, bidirectional motion can be achieved by controlling the forward and reverse rotation of the motor, which simplifies motor selection and drive circuit design and reduces system cost. The motor controller accurately switches the rotation direction according to the command, and together with the transmission mechanism in the adjustment component, it can ensure that the steering wheel achieves smooth and consistent movement speed and position control in both the folding and unfolding strokes.

[0117] Optionally, at least two motors 300 include a first motor 302 and a second motor 303; the adjustment assembly 200 includes a column 201; the column 201 is connected to the steering wheel 100; the first motor 302 is used to drive the column 201 to pitch, thereby controlling the pitch of the steering wheel 100; the second motor 303 is used to drive the column 201 to extend or retract, thereby controlling the extension or retraction of the steering wheel 100.

[0118] Optionally, the adjustment assembly 200 also includes a storage assembly 202 and a telescopic column 203; at least two motors 300 also include a third motor 301 and a fourth motor 304; the telescopic column 203 is connected to the steering wheel 100 via the storage assembly 202; the third motor 301 is used to control the folding and unfolding of the steering wheel 100; the fourth motor 304 is used to control the extension and retraction of the telescopic column 203, thereby controlling the storage and extension of the steering wheel 100.

[0119] Optional, refer to Figure 8 The multiple motors 300 include a first motor 302, a second motor 303, a third motor 301, and a fourth motor 304; the adjustment assembly 200 includes a column 201, a storage assembly 202, and a telescopic column 203; the steering wheel 100 is connected to one end of the column 201 via the first motor 302, and the other end of the column 201 is connected to the storage assembly 202; a second motor 303 is provided at one end of the storage assembly 202, a third motor 301 is provided at the other end of the storage assembly 202, and the fourth motor 304 is connected to the storage assembly 202 via the telescopic column 203. The other end of the assembly 202 is connected to the motor controller, which is connected to the first motor 302, the second motor 303, the third motor 301, and the fourth motor 304 respectively, and is used to drive the first motor 302, the second motor 303, the third motor 301, and the fourth motor 304 to move. The first motor 302 is used to control the folding and unfolding of the steering wheel 100. The second motor 303 is used to control the pitch of the column 201. The third motor 301 is used to control the extension and retraction of the column 201. The fourth motor 304 is used to control the retraction and unfolding of the telescopic column 203.

[0120] In this embodiment, the column 201 is used to support the steering wheel and transmit telescopic motion; the storage assembly 202 is a fixed device, which is generally installed on a fixed structure such as the vehicle frame by bolts or brackets, and does not produce overall displacement; the telescopic column 203 is a component that can move along the axis, and is used to drive the steering wheel 100 to extend or retract smoothly under the drive of the motor. The three work together to realize the reliable conversion of the steering wheel 100 between the driving position and the storage position.

[0121] Specifically, if all 300 motors are brushed motors, the timing control process of the steering wheel system is as follows: When the steering wheel 100 needs to be folded and stored, the positive relays corresponding to the first motor 302, the second motor 303, the third motor 301, and the fourth motor 304 are closed in sequence. The first motor 302 is activated to drive the steering wheel 100 to fold relative to the column 201. Then, the second motor 303 is activated to drive the column 201 to adjust its pitch, so that the steering wheel 100 tilts in the storage direction. Next, the third motor 301 is activated to drive the column 201 to extend and retract axially, so that the steering wheel 100 moves in the storage space. Finally, the fourth motor 304 is activated, which drives the storage assembly 202 to extend and retract through the telescopic column 203, thereby storing the steering wheel 100 in the predetermined position and completing the folding and storage process.

[0122] When the steering wheel 100 needs to be unfolded, the forward relays corresponding to the fourth motor 304, the third motor 301, the second motor 303, and the first motor 302 are closed in the reverse order of folding. Specifically, the fourth motor 304 first activates to drive the telescopic column 203 to extend the storage assembly 202, causing the steering wheel 100 to move out of the storage position. Then, the third motor 301 activates to drive the column 201 to extend and retract in the opposite direction, causing the steering wheel 100 to move towards the driver's position. Next, the second motor 303 activates to drive the column 201 to tilt and reset, restoring the steering wheel 100 to the operating angle. Finally, the first motor 302 activates to unfold the steering wheel 100 relative to the column 201, thus completing the unfolding and resetting of the steering wheel 100.

[0123] If the first motor 302, the second motor 303, the third motor 301, and the fourth motor 304 are all brushless motors, then the timing control process of the motor controller for the steering wheel 100 storage system is as follows: When the steering wheel 100 needs to be folded and stored, the U-phase relay and V-phase relay corresponding to the first motor 302, the second motor 303, the third motor 301, and the fourth motor 304 are closed sequentially. Specifically, the first motor 302 is activated to drive the steering wheel 100 to fold relative to the column 201; then the second motor 303 is activated to drive the column 201 to adjust its pitch, so that the steering wheel 100 tilts in the storage direction; next, the third motor 301 is activated to drive the column 201 to extend and retract axially, so that the steering wheel 100 moves in the storage space; finally, the fourth motor 304 is activated, which drives the storage assembly 202 to extend and retract through the telescopic column 203, thereby storing the steering wheel 100 in the predetermined position and completing the folding and storage process.

[0124] When the steering wheel 100 needs to be unfolded, the U-phase relay and V-phase relay corresponding to the fourth motor 304, the third motor 301, the second motor 303, and the first motor 302 are closed in the reverse order of folding. Specifically, the fourth motor 304 first activates to drive the telescopic column 203 to extend the storage assembly 202, causing the steering wheel 100 to move out of the storage position. Then, the third motor 301 activates to drive the column 201 to extend and retract in the opposite direction, causing the steering wheel 100 to move towards the driver's position. Next, the second motor 303 activates to drive the column 201 to tilt and reset, restoring the steering wheel 100 to the operating angle. Finally, the first motor 302 activates to unfold the steering wheel 100 relative to the column 201, thus completing the unfolding and resetting of the steering wheel 100.

[0125] By controlling the first to fourth motors to operate in a predetermined order, the folding and unfolding stages do not interfere with each other, avoiding mechanical interference or motion jamming caused by the simultaneous driving of multiple motors; each motor is independently controlled by a corresponding relay, realizing low-cost time-sharing drive of multiple motors, which reduces the hardware cost of the controller and improves the reliability of the system; the entire process logic is clear and the response is rapid, enabling the steering wheel to complete folding and unfolding and resetting in a smooth and low-noise manner.

[0126] Optionally, a vehicle may include the aforementioned steering wheel system.

[0127] The motor controller in this embodiment, by setting up a switching unit and a microcontroller unit, can selectively turn on or off different drive paths according to the control requirements of the motor. Two or more motors can be effectively controlled with only one drive unit, thus realizing the reuse of drive units. This not only improves the utilization rate of drive units but also reduces the hardware cost of the motor controller. When controlling the switching units, a high-side drive chip is used to convert between control signals and on / off control signals, enabling each switching unit to respond to control commands independently and accurately, thereby improving the control accuracy and response speed of the motor controller. By setting up a set of current acquisition units and voltage acquisition units, real-time monitoring of the operating status of multiple motors can be achieved, thereby improving the control accuracy and response speed of the motor controller, while also enhancing the safety protection capabilities and operational stability of the motor controller.

[0128] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0129] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0130] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0131] The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0132] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0133] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0134] The present invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A motor controller for driving N motors, wherein, N≥2, characterized in that it includes: Microcontroller unit, drive unit, N switching units and switch control unit; The microcontroller unit is connected to the drive unit, the drive unit is connected to the N switch units respectively, and the N switch units are connected to the N motors in a one-to-one correspondence to form N drive paths; The microcontroller unit is also connected to the switch control unit, and the switch control unit is connected to the N switch units respectively; The microcontroller unit is used to generate a selection signal according to the control signal and send the selection signal to the switch control unit. The switch control unit generates an on / off control signal corresponding to each switch unit based on the selection signal and sends it to the switch unit. The switching unit is used to turn on or off according to the on / off control signal, thereby turning on or off the driving path corresponding to the switching unit.

2. The motor controller according to claim 1, characterized in that, The switch control unit includes a high-side driver chip; The microcontroller unit is connected to the high-side drive chip, and the high-side drive chip is connected to the N switch units respectively; The high-side driving chip is used to generate on / off control signals corresponding to each of the switching units based on the selection signal and send them to the switching units.

3. The motor controller according to claim 1, characterized in that, The switching unit includes a controllable on / off component; The controllable on / off component is connected to the switch control unit; The microcontroller unit is connected to the drive unit, the drive unit is connected to the controllable switching component, and the controllable switching component is connected to the motor, forming a drive path; The controllable on / off component is used to turn on or off according to the on / off control signal, thereby controlling the drive path to turn on or off.

4. The motor controller according to claim 3, characterized in that, The motor is a brushed motor; The controllable switching component includes a first electromagnetic coil and a first contact component; One end of the first electromagnetic coil is connected to the switch control unit, and the other end of the first electromagnetic coil is grounded, forming a first on / off path; The microcontroller unit, the drive unit, the first contact assembly, and the motor form a drive path; When the on / off control signal is high, the first on / off path is turned on, the first electromagnetic coil is energized and generates an electromagnetic force, so that the first contact assembly is turned on, thereby controlling the drive path to be turned on, and then starting to drive the motor. When the on / off control signal is low, the first on / off path is disconnected, the first electromagnetic coil is not energized and loses its electromagnetic force, so that the first contact assembly is in an open state, thereby controlling the drive path to disconnect and stopping the drive of the motor.

5. The motor controller according to claim 3, characterized in that, The motor is a brushless motor; The controllable switching component includes two second electromagnetic coils and two second contact components; One end of a second electromagnetic coil is connected to the switch control unit, and the other end of a second electromagnetic coil is grounded, forming a second on / off path; One end of another second electromagnetic coil is connected to the switch control unit, and the other end of the other second electromagnetic coil is grounded, forming another second on / off path; The microcontroller unit, the drive unit, a second contact assembly, and the motor form a drive path; The microcontroller unit, the drive unit, another second contact assembly, and the motor form another drive path; When the on / off control signal is high, the second on / off path is turned on, the second electromagnetic coil is energized to generate an electromagnetic force, so that the second contact assembly is turned on, thereby controlling the drive path to turn on, and then starting to drive the motor. When the on / off control signal is low, the second on / off path is disconnected, the second electromagnetic coil is not energized and loses its electromagnetic force, so that the second contact assembly is in an open state, thereby controlling the drive path to disconnect and stopping the drive of the motor.

6. The motor controller according to claim 1, characterized in that, The driving unit includes a driving chip and a driving bridge circuit; The microcontroller unit is connected to the driver chip, the driver chip is connected to the driver bridge circuit, and the driver bridge circuit is connected to the N switching units respectively. The microcontroller unit is used to send a drive control signal to the drive chip according to the control signal. The drive chip generates a drive signal based on the drive control signal. The drive signal is used to control the drive bridge circuit to start driving the motor when the drive path is turned on.

7. The motor controller according to claim 1, characterized in that, The motor controller also includes a power processing unit; The power processing unit is used to provide a stable power supply to the drive unit and the microcontroller unit. The power processing unit includes a reverse connection protection circuit, a power relay, a filter, and a power chip. One end of the reverse connection protection circuit is connected to an external power supply, the other end of the reverse connection protection circuit is connected to one end of the power relay, the other end of the power relay is connected to one end of the filter, the other end of the filter is connected to the drive unit, and the external power supply is also connected to the microcontroller unit through the power chip. The motor controller also includes a signal transceiver, which is used to receive control signals and send them to the microcontroller unit.

8. The motor controller according to claim 1, characterized in that, The motor controller also includes a current acquisition unit, a voltage acquisition unit, and a temperature sensor; The input terminal of the current acquisition unit is connected to the drive unit, and the output terminal of the current acquisition unit is connected to the microcontroller unit. The current acquisition unit is used to acquire the current value of the drive unit and feed it back to the microcontroller unit. When the microcontroller unit determines that the current value is within the normal current threshold range, it controls the drive unit to drive the motor. The input terminal of the voltage acquisition unit is connected to the drive unit, and the output terminal of the voltage acquisition unit is connected to the microcontroller unit. The voltage acquisition unit is used to acquire the voltage value of the drive unit and feed it back to the microcontroller unit. When the microcontroller unit determines that the voltage value is within the normal voltage threshold range, it controls the drive unit to drive the motor. The temperature sensor is connected to the microcontroller unit and is used to feed back the collected temperature of the motor to the microcontroller unit. When the microcontroller unit determines that the temperature is within the normal temperature threshold range, it controls the drive unit to drive the motor.

9. The motor controller according to claim 6, characterized in that, The motor is a brushed motor; The drive bridge circuit includes four switching devices, which are divided into two groups. Each group includes two switching devices connected in series, and the two switching devices in each group form a bridge arm. Each bridge arm is connected in parallel, and the midpoint of each bridge arm is connected to the motor. The midpoint of each of the bridge arms is connected to the N switch units, and the N switch units are connected to the N motors in a one-to-one correspondence. Alternatively, the motor may be a brushless motor; The drive bridge circuit includes six switching devices, which are divided into three groups. Each group includes two switching devices connected in series, and the two switching devices in each group form a bridge arm. Each bridge arm is connected in parallel, and the midpoint of each bridge arm is connected to the motor. The midpoint of each of the bridge arms is connected to the N switch units, and the N switch units are connected to the N motors in a one-to-one correspondence. The switching device is a MOSFET.

10. The motor controller according to claim 7, characterized in that, The motor controller also includes a crystal oscillator; The crystal oscillator is connected to the microcontroller unit to provide a clock signal. The microcontroller unit generates a drive control signal based on the clock signal to control the drive unit. One end of the reverse connection protection circuit is also grounded, and the other end of the reverse connection protection circuit is also grounded; The transceiver receives control signals via a CAN bus; the CAN bus includes CAN_H lines and CAN_L lines. One end of the CAN_H line is connected to an external system, and the other end of the CAN_H line is connected to the signal transceiver; One end of the CAN_L line is connected to an external system, and the other end of the CAN_L line is connected to the signal transceiver.

11. A steering wheel system, characterized in that, include: The motor controller as described in any one of claims 1-10, comprising a steering wheel (100), an adjustment assembly (200), and at least two motors (300). The steering wheel (100) is connected to the adjustment assembly (200); the adjustment assembly (200) is connected to the at least two motors (300); the at least two motors (300) are respectively connected to the motor controller; The motor controller is used to drive the at least two motors (300) to move, so that the adjustment component (200) drives the steering wheel (100) to move.

12. The steering wheel system according to claim 11, characterized in that, The at least two motors (300) include a first motor (302) and a second motor (303); The adjustment assembly (200) includes a column (201); the column (201) is connected to the steering wheel (100); The first motor (302) is used to drive the column (201) to pitch, thereby controlling the pitch of the steering wheel (100); The second motor (303) is used to drive the column (201) to extend and retract, thereby controlling the extension and retraction of the steering wheel (100).

13. The steering wheel system according to claim 12, characterized in that, The adjustment assembly (200) also includes a storage assembly (202) and a telescopic column (203); The at least two motors (300) also include a third motor (301) and a fourth motor (304). The telescopic column (203) is connected to the steering wheel (100) via the storage assembly (202); The third motor (301) is used to control the folding and unfolding of the steering wheel (100); the fourth motor (304) is used to control the extension and retraction of the telescopic column (203), thereby controlling the retraction and extension of the steering wheel (100).

14. A vehicle, characterized in that, Includes the steering wheel system according to any one of claims 11-13.

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