Position sensing by isomeric redundancy

Abstract

The motor system can include a magnet and an inductive sensing target mounted to a motor shaft, a circuit board, a magnetic sensor configured to sense a magnetic field associated with the magnet mounted to the motor shaft, and an inductive sensor configured to sense an electromagnetic induction associated with the inductive sensing target mounted to the motor shaft. The magnetic sensor and the inductive sensor can be mounted to the circuit board.

Description

Cross-reference to related applications

[0001] This application claims priority to U.S. Patent Application No. 63 / 782,508, filed April 2, 2025, entitled "A Steering-by-Wire System Including a Steering Feedback Actuator (SFA) and a Road Wheel Actuator (RWA)"; U.S. Patent Application No. 63 / 785,523, filed April 8, 2025, entitled "Mechanical Coupling with Position Sensing"; and U.S. Patent Application No. 19 / 636,817, filed April 1, 2026, entitled "Position Sensing via Heterogeneous Redundancy," the entire contents of which are incorporated herein by reference. Technical Field

[0002] Various embodiments of this disclosure generally relate to steering systems for vehicles, and more specifically to steer-by-wire systems. Background Technology

[0003] Vehicles require a steering system to control their direction of travel. Previously, mechanical steering systems were primarily used. Mechanical steering systems typically consist of a mechanical linkage or connection between the steering wheels and the vehicle's road wheels. For example, in a conventional steering system—which includes steering wheels, a steering column, a power-assisted rack and pinion system, and connecting rods—the driver turns the steering wheels, which in turn cause the vehicle's road wheels to turn via various mechanical components. Therefore, the movement of the steering wheels causes a corresponding movement of the road wheels. The movement of such mechanical systems is typically assisted by the use of hydraulic aids or electric motors.

[0004] Mechanical steering systems are expected to be replaced or supplemented by electric steering systems, commonly referred to as "steer-by-wire" systems. These steer-by-wire systems replace the mechanical linkage between the steering wheels and the road wheels to varying degrees with one or more sensors, actuators, and electronics. Steer-by-wire systems aim to eliminate the physical or mechanical connection between the steering wheels and the road wheels, changing the direction of the wheels and providing feedback to the driver via an electric motor. While the mechanical linkage between the steering wheels and the road wheels is eliminated, steer-by-wire systems are not only expected to produce the same functionality and steering feel as conventional mechanically linked steering systems, but also to achieve advanced steering system features. Through advanced control system design, the demand for both conventional steering functions and advanced steering features such as adjustable steering feel can be met.

[0005] Based on the above considerations and other general considerations, the following embodiments are described. Furthermore, although relatively specific problems have been discussed, it should be understood that the embodiments should not be limited to solving the specific problems described in the background section. Summary of the Invention

[0006] The features and advantages of this disclosure will become more readily understood and clearer from the following detailed description, which should be read in conjunction with the accompanying drawings, and from the appended claims.

[0007] According to embodiments of the present disclosure, a motor system may include: a magnet mounted to a motor shaft and an inductive sensing target; a circuit board; a magnetic sensor configured to sense a magnetic field associated with the magnet mounted to the motor shaft; and an inductive sensor configured to sense electromagnetic induction associated with the inductive sensing target mounted to the motor shaft, wherein the magnetic sensor and the inductive sensor are mounted to the circuit board.

[0008] Magnetic sensors and inductive sensors can be mounted on the following end of the circuit board facing the motor shaft: the inductive sensing target and the magnet are mounted on this end.

[0009] The motor system may also include a magnet retainer that connects a magnet to the motor shaft.

[0010] The magnets mounted to the motor shaft can be arranged inside the magnet holder.

[0011] Magnet holders can be made of non-magnetic materials.

[0012] The motor system may also include a controller configured to determine the position of the motor shaft based on at least one of a magnetic field associated with a magnet mounted to the motor shaft or electromagnetic induction associated with an inductive sensing target mounted to the motor shaft.

[0013] Inductive sensors can be positioned off-axis from the motor shaft, while magnetic sensors can be positioned on the motor shaft.

[0014] The motor system may also include an auxiliary rotor that is rotatably engaged with the motor shaft.

[0015] Each of the motor shaft and the auxiliary rotor may include a gear, the gear on the motor shaft and the gear on the auxiliary rotor may be rotatably engaged with each other, and the number of teeth on the gear on the motor shaft may differ from the number of teeth on the gear on the auxiliary rotor.

[0016] The auxiliary rotor may be equipped with another magnet, and the motor system may also include another magnetic sensor configured to sense the magnetic field associated with the other magnet mounted on the auxiliary rotor.

[0017] The auxiliary rotor may include another inductive sensing target, and the motor system may also include another inductive sensor configured to sense electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor.

[0018] The motor shaft can be connected to the steering column, which in turn connects to the steering wheel.

[0019] One end of the motor shaft can be connected to the steering column, which is connected to the steering wheel, while the magnet and inductive sensing target can be mounted to the other end of the motor shaft.

[0020] The motor system may further include: an auxiliary rotor rotatably engaged with the motor shaft and having another magnet; and another magnetic sensor configured to sense a magnetic field associated with the other magnet mounted to the auxiliary rotor, wherein the motor shaft is connected to a steering column connected to the steering wheel, and the controller is configured to determine the position of the steering column or steering wheel based on the magnetic field associated with the other magnet mounted to the auxiliary rotor and at least one of the following: the magnetic field associated with the magnet mounted to the motor shaft; or electromagnetic induction associated with an inductive sensing target mounted to the motor shaft.

[0021] The motor system may further include: an auxiliary rotor rotatably engaged with the motor shaft and including another inductive sensing target; and another inductive sensor configured to sense electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor, wherein the motor shaft is connected to a steering column connected to the steering wheel, and the controller is configured to determine the position of the steering column or steering wheel based on the electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor and at least one of the following: a magnetic field associated with a magnet mounted to the motor shaft; or electromagnetic induction associated with the inductive sensing target mounted to the motor shaft.

[0022] The motor system may also include a stop that is configured to limit the range of rotation of the motor shaft.

[0023] The inductive sensing target may have a metallic pattern, and the inductive sensor may include a receiver and a transmitter, the receiver including a sine coil and a cosine coil, and the transmitter including at least one circular coil.

[0024] According to embodiments of the present disclosure, a steer-by-wire system may include: a steering feedback actuator assembly connected to a steering wheel; and a road wheel actuator assembly connected to a road wheel, wherein the steering feedback actuator assembly includes a motor system comprising: a motor having a motor shaft connected to a steering column connected to the steering wheel; a magnet mounted to the motor shaft and an inductive sensing target; a circuit board; a magnetic sensor configured to sense a magnetic field associated with the magnet mounted to the motor shaft; and an inductive sensor configured to sense electromagnetic induction associated with the inductive sensing target mounted to the motor shaft, wherein the magnetic sensor and the inductive sensor are mounted to the circuit board.

[0025] Magnetic sensors and inductive sensors can be mounted on the following end of the circuit board facing the motor shaft: the inductive sensing target and the magnet are mounted on this end.

[0026] The motor system may also include a magnet retainer that connects a magnet to the motor shaft.

[0027] The magnets mounted to the motor shaft can be arranged inside the magnet holder.

[0028] Magnet holders can be made of non-magnetic materials.

[0029] The steer-by-wire system may also include a controller configured to determine the position of the motor shaft based on at least one of a magnetic field associated with a magnet mounted to the motor shaft or electromagnetic induction associated with an inductive sensing target mounted to the motor shaft.

[0030] Inductive sensors can be positioned off-axis from the motor shaft, while magnetic sensors can be positioned on the motor shaft.

[0031] The steer-by-wire system may also include an auxiliary rotor that is rotatably engaged with the motor shaft.

[0032] Each of the motor shaft and the auxiliary rotor may include a gear, the gear on the motor shaft and the gear on the auxiliary rotor being rotatably engaged with each other, and the number of teeth on the gear on the motor shaft being different from the number of teeth on the gear on the auxiliary rotor.

[0033] One end portion of the motor shaft can be connected to the steering column, which is connected to the steering wheel, and magnets and inductive sensing targets can be mounted to the other end portion of the motor shaft.

[0034] The steer-by-wire system may further include: an auxiliary rotor rotatably engaged with a motor shaft and having another magnet; and a second magnetic sensor configured to sense a magnetic field associated with the second magnet mounted to the auxiliary rotor, wherein a controller of the steering feedback actuator is configured to determine the position of the steering column or steering wheel based on the magnetic field associated with the second magnet mounted to the auxiliary rotor and at least one of: a magnetic field associated with the magnet mounted to the motor shaft; or electromagnetic induction associated with an inductive sensing target mounted to the motor shaft, and the controller of the steering feedback actuator is configured to transmit the position of the steering column or steering wheel to another controller included in the wheel actuator assembly; or, the second magnetic sensor is configured to transmit a signal related to the magnetic field associated with the second magnet mounted to the auxiliary rotor to another controller included in the wheel actuator assembly, and the magnetic sensor or inductive sensor is configured to transmit a signal related to the magnetic field associated with the magnet mounted to the motor shaft, or electromagnetic induction associated with an inductive sensing target mounted to the motor shaft.

[0035] The steer-by-wire system may further include: an auxiliary rotor rotatably engaged with a motor shaft and including another inductive sensing target; and another inductive sensor configured to sense electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor, wherein a controller of the steering feedback actuator is configured to determine the position of the steering column or steering wheel based on electromagnetic induction associated with the inductive sensing target included in the auxiliary rotor and at least one of: a magnetic field associated with a magnet mounted to the motor shaft; or a magnetic field associated with a magnet mounted to the motor shaft. The electromagnetic induction associated with the inductive sensing target and the controller of the steering feedback actuator are configured to transmit the position of the steering column or steering wheel to another controller included in the road wheel actuator assembly; or, the other inductive sensor is configured to transmit a signal related to the electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor to another controller included in the road wheel actuator assembly, and a magnetic sensor or inductive sensor is configured to transmit a signal related to the magnetic field associated with the magnet mounted to the motor shaft, or the electromagnetic induction associated with the inductive sensing target mounted to the motor shaft.

[0036] The inductive sensing target may have a metallic pattern, and the inductive sensor may include a receiver and a transmitter, the receiver including a sine coil and a cosine coil, and the transmitter including at least one circular coil.

[0037] This invention is intended to introduce some concepts in a simplified form, which will be further described in the detailed description below. This invention is not intended to identify the key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. Attached Figure Description

[0038] Various embodiments according to this disclosure will be described with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of a steering device according to an embodiment of the present disclosure; Figures 2 to 7 This is a partial view showing a steering device according to an embodiment of the present disclosure; Figure 8 This is a schematic diagram of a steering device according to an embodiment of the present disclosure; Figures 9 to 18 This is a partial view showing a steering device according to an embodiment of the present disclosure; Figure 19 It is a graph used to illustrate a method according to an embodiment of the present disclosure, which estimates the position of a rack based on the difference between first rotation information of a first motor and second rotation information of a second motor. Figure 20 This is a schematic diagram of a vehicle including a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 21 This is a perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 22 This is a cross-sectional view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 23 This is a partial cross-sectional view used to illustrate a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figures 24 to 25 This is a partial perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figures 26 to 27 This is a partial cross-sectional view used to illustrate a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 28 This is a partial plan view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 29 This is a partial perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure; Figure 30 This is a side view used to illustrate a motor system according to an embodiment of the present disclosure; Figure 31 It is a plan view for illustrating a motor system according to an embodiment of the present disclosure; Figure 32 This is a plan view illustrating an inductive sensor according to an embodiment of the present disclosure; Figure 33 It is a cross-sectional view used to illustrate a motor system according to an embodiment of the present disclosure; Figure 34 This is an exploded view illustrating a motor system according to an embodiment of the present disclosure. Detailed Implementation

[0039] In the following detailed description, reference will be made to the accompanying drawings, which form a part of this disclosure, and specific embodiments in which the invention may be practiced are illustrated by way of example. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it should be understood that other embodiments may be used, and that changes may be made to these embodiments in structural, logical, and electrical aspects without departing from the spirit and scope of the invention. Therefore, the following detailed description should not be considered limiting, and the scope of the invention is defined only by the appended claims and their equivalents. Similar reference numerals in the drawings denote similar parts, as should be apparent from the context of their use.

[0040] The steering device according to embodiments of the present disclosure includes a ball nut 141, a first nut pulley 143a, a second nut pulley 143b, a first motor pulley 142a, a second motor pulley 142b, and an electronic control device 110. The ball nut 141 is rotatably connected to a rack 130 by means of balls 144, and can be configured to allow the rack 130 to slide axially by rotation of the ball nut 141. The first nut pulley 143a can be disposed on the outer peripheral surface of the ball nut 141, and the second nut pulley 143b can be disposed on the outer peripheral surface of the ball nut 141. The first motor pulley 142a can be connected to a first motor 145 (e.g., fixed to the shaft of the first motor 145) or directly formed on a rotatable portion of the first motor 145, and the first motor pulley 142a is connected to the first nut pulley 143a via a first belt 149a. The second motor pulley 142b may be coupled to the second motor 147 (e.g., fixed to the shaft of the second motor 147) or directly formed on the rotatable portion of the second motor 147, and the second motor pulley 142b is connected to the second nut pulley 143b via the second belt 149a. The electronic control device 110 may include one or more controllers or processors, and the electronic control device 110 may be configured to control the first motor 145 and the second motor 147. For example, the electronic control device 110 may output one or more control signals to the first motor 145 and the second motor 147 in response to one or more electrical signals.

[0041] Reference Figure 1 In the steering device according to the present disclosure, the angle sensor 105 and the torque sensor 107 may be coupled to one side of the steering shaft 103 connected to the steering wheel 101 or located around the steering shaft 103.

[0042] In the autonomous driving mode where the autonomous driving system drives the vehicle, or in the driver assistance mode where a driver assistance system such as an advanced driver assistance system (ADAS) assists the driver in operating the vehicle, the electronic control unit 110 controls the steering shaft motor 120, the first motor 145, and the second motor 147 by transmitting one or more control signals to the steering shaft motor 120, the first motor 145, and the second motor 147 in response to electrical signals transmitted from various sensors installed in or associated with the vehicle.

[0043] In driver-driven mode, the electronic control unit 110 controls the steering shaft motor 120, the first motor 145, and the second motor 147 by outputting one or more control signals to the steering shaft motor 120, the first motor 145, and the second motor 147 in response to the following electrical signals: an electrical signal transmitted from the angle sensor 105, which detects the driver's manipulation or rotation angle of the steering wheel 101; an electrical signal transmitted from the torque sensor 107; and electrical signals transmitted from various other sensors installed in or associated with the vehicle.

[0044] exist Figure 1 In the embodiment shown, the angle sensor 105 and the torque sensor 107 are configured as two separate and independent sensors. Alternatively, the angle sensor 105 and the torque sensor 107 may also be combined into a single sensor, such as a torque-angle sensor.

[0045] The steering shaft motor 120 may be connected to or associated with a reducer configured to reduce the rotational speed of the steering shaft motor 120, the reducer including, but not limited to, one or more gears, one or more pulleys, and / or one or more belts.

[0046] During normal driving, the steering shaft motor 120 provides appropriate steering feedback to the driver by supplying a reaction force to the steering shaft 103, allowing the driver to feel a steering reaction force resisting the driver's manipulation of the steering wheel 101. The steering shaft motor 120 may also be referred to as a reaction force motor. However, as described below, when the steering shaft motor 120 operates in automatic driving mode, it can not only provide a reaction force but also operate according to autonomous steering.

[0047] In addition, the steering shaft motor 120 rotates the steering shaft 103 so that when the steering shaft motor 120 is operating in automatic driving mode, it can steer autonomously under the control of the electronic control unit 110 without the driver's driving or intention.

[0048] Furthermore, in a steering system with on-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the road wheel 131, a device may be included to mechanically constrain or limit the rotatable range of the steering wheel 101 to prevent the steering shaft 103 from rotating indefinitely when the driver operates the steering wheel 101.

[0049] For example, a rotation angle constraint device 125 can be provided to constrain or limit the rotation range of the steering wheel 101, thereby preventing the steering shaft 103 from rotating indefinitely.

[0050] The first motor 145 and the second motor 147 move or slide the rack 130 via the rack moving device 140 to steer the road wheel 131, which is located on opposite sides of the rack 130 or connected to opposite sides of the rack 130 via the connecting rod 133 and the steering knuckle arm 135.

[0051] The rack and pinion moving device 140 includes a ball nut 141, a first nut pulley 143a, a second nut pulley 143b, a first motor pulley 142a, and a second motor pulley 142b. The ball nut 141 is rotatably connected to the rack 130 by means of balls 144, and the ball nut 141 is configured to cause the rack 130 to slide along the axial direction of the rack and pinion moving device 140 by rotation of the ball nut 141. The first nut pulley 143a can be disposed on one side of the outer peripheral surface of the ball nut 141, and the second nut pulley 143b can be disposed on the other side of the outer peripheral surface of the ball nut 141. The first motor pulley 142a can be connected to a first motor 145 (e.g., fixed to the shaft of the first motor 145) or directly formed on a rotatable portion of the first motor 145, and the first motor pulley 142a can be connected to the first nut pulley 143a via a first belt 149a. The second motor pulley 142b can be connected to the second motor 147 (e.g., fixed to the shaft of the second motor 147) or formed directly on the rotatable part of the second motor 147, and the second motor pulley 142b can be connected to the second nut pulley 143b via the second belt 149a.

[0052] Furthermore, the ball 144 is rotatably arranged between the rack helical groove formed on the outer peripheral surface of the rack 130 and the nut helical groove formed on the inner peripheral surface of the ball nut 141, so that the rack 130 can slide along the axial direction of the rack moving device 140 by rotating the ball nut 141.

[0053] However, in the embodiments described above in this disclosure, the angle sensor 105 and the torque sensor 107 are disposed on the steering shaft 103 or around the steering shaft 130, and the steering device according to the embodiments of this disclosure may include a vehicle speed sensor 102, an ultrasonic sensor 104, and an image sensor 106 for transmitting steering information to the electronic control unit 110. However, various types of sensors, such as radar and lidar, may be added to the embodiments of this disclosure.

[0054] In a steering system with in-line steering, since the steering wheel 101 is not mechanically connected to the rack 130 and the road wheel 131, a device may be included to mechanically constrain the rack 130 to prevent it from rotating due to the rotational torque of the ball nut 141 rotated by the rack moving device 140.

[0055] For example, the anti-rotation member 150 is configured to support the axial sliding of the rack 130 and prevent the rack 130 from rotating.

[0056] exist Figure 1 In the embodiment shown, a single anti-rotation member 150 is provided on one side of the rack 130. Alternatively, multiple anti-rotation members 150 may be provided to support the rack 130. The number of anti-rotation members 150, the axial position of the anti-rotation members 150, etc., may vary depending on the configuration of the first motor 145 and the second motor 147, the required operation, and the rotational force required by the ball nut 141 of the rack moving device 140.

[0057] In one embodiment, the first motor 145 and the second motor 147 are arranged to face each other such that the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147 are aligned coaxially and arranged parallel to the central axis of the rack 130.

[0058] exist Figure 2 In another embodiment shown, a first motor 145 is arranged on one side of the rack 130, and a second motor 147 is arranged on the other side of the rack 130, such that the rack 130 is positioned between the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147, and the shaft 145a of the first motor 145 and the shaft 147a of the second motor 147 are arranged parallel to the central axis of the rack 130 and are arranged on opposite sides of the central axis of the rack 130.

[0059] As mentioned above, Figure 1 and Figure 2 The exemplary arrangement of the first motor 145, the second motor 147, and the rack and pinion 130 shown can reduce the packaging size of the steering device, making the steering device more compact, and can simplify the assembly process of the first motor 145, the first strip 149a, the second motor 147, and the second strip 149b of the steering device.

[0060] Reference Figure 3 The outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b can be different from each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b can be equal to each other.

[0061] In other words, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b rotate while maintaining the same phase angle, and there is no phase difference between the first nut pulley 143a and the second nut pulley 143b. When the first motor 145 and the second motor 147 are operating, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing the phase difference between the first motor pulley 142a and the second motor pulley 142b.

[0062] exist Figure 3 In the illustrated embodiment, the first nut pulley 143a and the second nut pulley 143b are respectively provided and connected to a portion and another portion of the outer peripheral surface of the ball nut 141. However, as Figure 4 As shown, the first nut pulley 143a and the second nut pulley 143b can also be combined into a single piece with the same outer diameter. This will be described below.

[0063] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0064] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and the first motor sensor 145s outputs a signal indicating the direction and angle to the electronic control device 110.

[0065] When the second motor 147 operates, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and outputs a signal indicating the rotation direction and angle of the shaft 147a of the second motor 147 to the electronic control device 110.

[0066] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output control signals to the first motor 145 and the second motor 147.

[0067] In other words, the electronic control device 110 sets the angle between the reference point of the shaft 145a of the first motor 145 when the first motor 145 is stopped and the reference point of the shaft 147a of the second motor 147 when the second motor 147 is stopped as a reference position value. After the first motor 145 and the second motor 147 operate, the electronic control device 10 sets the angle between the reference point of the shaft 145a of the first motor 145 and the reference point of the shaft 147a of the second motor 147 as an operating position value. The electronic control device 10 determines the linear position of the rack 130 based on the difference between the reference position value and the operating position value.

[0068] For example, the difference between the reference position value and the operating position value can be set from 0° to 360°. The maximum sliding range of the rack 130 is set within this range. The electronic control device 110 determines the sliding position of the rack 130 based on at least one of the following: the rotation ratio between the first motor pulley 142a and the first nut pulley 143a, the rotation ratio between the second motor pulley 142b and the second nut pulley 143b, the outer and inner diameters of the ball nut 141, the outer diameter of the rack 130, or the lead angle between the rack helical groove 130a and the nut helical groove 141a.

[0069] Furthermore, by setting the difference between the reference position value and the operating position value as a movement value and comparing this movement value with preset data, the electronic control device 110 can determine the linear position of the rack 130. For example, this movement value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 can be set within this range.

[0070] The preset data may include the sliding amount of the rack 130, which corresponds to a movement value determined based on at least one of the following: the outer diameter of the first motor pulley 142a and the second motor pulley 142b, the outer diameter of the first nut pulley 143a and the second nut pulley 143b, the outer and inner diameters of the ball nut 141, and / or the outer diameter of the rack 130.

[0071] For example, the first motor pulley 142a and the second motor pulley 142b have different outer diameters, while the first nut pulley 143a and the second nut pulley 143b have the same outer diameter. This allows the electronic control device 110 to determine the sliding position of the rack rod 130 based on the first position detected by the first motor sensor 145s through the shaft 145a of the first motor 145 and the second position detected by the second motor sensor 147s through the shaft 147a of the second motor 147, and to output signals for controlling the first motor 145 and the second motor 147.

[0072] Reference Figure 4 The first nut pulley 143a and the second nut pulley 143b can be combined into a single piece with the same outer diameter.

[0073] In the example where the first nut pulley 143a and the second nut pulley 143b are combined into a single piece with the same outer diameter, the first strip 149a is connected to a portion of the integral pulley, while the second strip 149b is connected to another portion of the integral pulley, such that the first strip 149a and the second strip 149b can be connected to the first motor pulley 142a and the second motor pulley 142b, respectively.

[0074] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0075] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and transmits the direction and angle to the electronic control device 110.

[0076] When the second motor 147 is in operation, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and the second motor sensor 147s transmits the signals indicating the direction and angle to the electronic control device 110.

[0077] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output a signal for controlling the first motor 145 and the second motor 147.

[0078] exist Figure 5In the exemplary embodiment shown, the outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b can be equal to each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b can be different from each other.

[0079] The first nut pulley 143a, the second nut pulley 143b, and the ball nut 141 rotate at the same speed. Therefore, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b maintain the same phase angle and rotate in a manner with no phase difference. However, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing their phase difference.

[0080] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0081] When the first motor 145 is operating, the first motor sensor 145s detects the rotation direction and angle of the shaft 145a of the first motor 145, and the first motor sensor 145s outputs a signal indicating the rotation direction and angle of the shaft 145a of the first motor 145 to the electronic control device 110.

[0082] Furthermore, when the second motor 147 is operating, the second motor sensor 147s detects the rotation direction and angle of the shaft 147a of the second motor 147, and the second motor sensor 147s transmits the rotation direction and angle of the shaft 147a of the second motor 147 to the electronic control device 110.

[0083] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 through the following process: the linear position of the rack 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0084] exist Figure 6 In the exemplary embodiment shown, the outer diameter mD1 of the first motor pulley 142a and the outer diameter mD2 of the second motor pulley 142b may be different from each other, and the outer diameter nD1 of the first nut pulley 143a and the outer diameter nD2 of the second nut pulley 143b may also be different from each other.

[0085] Even under these conditions, the first nut pulley 143a, the second nut pulley 143b, and the ball nut 141 rotate at the same speed. Therefore, when the first motor 145 and the second motor 147 are operating, the first nut pulley 143a and the second nut pulley 143b maintain the same phase angle and rotate without any phase difference.

[0086] Furthermore, when the first motor 145 and the second motor 147 are operating, the first motor pulley 142a and the second motor pulley 142b rotate while gradually changing their phase difference.

[0087] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0088] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the linear position of the rack 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0089] exist Figure 7 In an exemplary embodiment, a first motor pulley tooth 142-1 is disposed on the outer peripheral surface of the first motor pulley 142a, and a first nut pulley tooth 143-1 is disposed on the outer peripheral surface of the first nut pulley 143a. The first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 can be connected to engage with a first strip tooth 149-1 disposed on the inner peripheral surface of the first strip 149a.

[0090] Since the first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 are connected to the first belt tooth 149-1 to transmit power, the first motor pulley tooth 142-1 and the first nut pulley tooth 143-1 have the same dimensions as the first belt tooth 149-1.

[0091] The second motor pulley tooth 142-2 is disposed on the outer peripheral surface of the second motor pulley 142b, and the second nut pulley tooth 143-2 is disposed on the outer peripheral surface of the second nut pulley 143b. The second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 can be connected to the second strip tooth 149-2 disposed on the inner peripheral surface of the second strip 149b.

[0092] Since the second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 are connected to the second belt tooth 149-2 to transmit power, the second motor pulley tooth 142-2 and the second nut pulley tooth 143-2 can have the same dimensions as the second belt tooth 149-2.

[0093] Furthermore, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be different from each other, and the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can be equal to each other.

[0094] The first motor pulley tooth section 142-1 and the second motor pulley tooth section 142-2 have equal circumferential pitches, different pitch circle diameters, and different numbers of teeth. The first nut pulley tooth section 143-1 and the second nut pulley tooth section 143-2 have equal circumferential pitches, equal pitch circle diameters, and different numbers of teeth.

[0095] The first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0096] Therefore, the electronic control device 110 can determine the linear position of the rack 130 based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s, and output a signal for controlling the first motor 145 and the second motor 147.

[0097] In other words, similar to the determination method described above, the difference between the reference position value and the operating position value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 is set within this range. The electronic control device 110 determines the sliding position of the rack 130 based on at least one of the following: the pitch circle diameter ratio or tooth number ratio between the first motor pulley 142a and the first nut pulley 143a, the pitch circle diameter ratio or tooth number ratio between the second motor pulley 142b and the second nut pulley 143b, the inner and outer diameters of the ball nut 141, or the outer diameter of the rack 130.

[0098] Alternatively, similar to the method described above, the electronic control device 110 can determine the sliding position of the rack 130 by setting the difference between the reference position value and the operating position value as a movement value and comparing this movement value with preset data. In this case, the movement value can be set from 0° to 360°, and the maximum sliding amount of the rack 130 is set within this range.

[0099] In this case, the preset data may include the sliding amount of the rack 130, which corresponds to a movement value determined according to at least one of the following: the pitch circle diameter and number of teeth of the first motor pulley 142a and the second motor pulley 142b, the pitch circle diameter and number of teeth of the first nut pulley 143a and the second nut pulley 143b, the outer diameter and inner diameter of the ball nut 141, and / or the outer diameter of the rack 130.

[0100] As described above, the number of teeth 142-1 on the first motor pulley is different from the number of teeth 142-2 on the second motor pulley, while the number of teeth 143-1 on the first nut pulley is equal to the number of teeth 143-2 on the second nut pulley. The electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined based on the first position of the shaft 145a of the first motor 145 sensed by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 sensed by the second motor sensor 147s.

[0101] In addition, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be equal, while the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can be different.

[0102] The first motor pulley tooth section 142-1 and the second motor pulley tooth section 142-2 may have equal circumferential pitch, equal pitch circle diameter, and the same number of teeth. The first nut pulley tooth section 143-1 and the second nut pulley tooth section 143-2 may have the same circumferential pitch, different pitch circle diameters, and different numbers of teeth.

[0103] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0104] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0105] In addition, the number of teeth 142-1 of the first motor pulley and the number of teeth 142-2 of the second motor pulley can be different, and the number of teeth 143-1 of the first nut pulley and the number of teeth 143-2 of the second nut pulley can also be different.

[0106] In other words, the first motor pulley tooth 142-1 and the second motor pulley tooth 142-2 can have equal circumferential pitch, different pitch circle diameters, and different numbers of teeth. The first nut pulley tooth 143-1 and the second nut pulley tooth 143-2 can have equal circumferential pitch, different pitch circle diameters, and different numbers of teeth.

[0107] Furthermore, the first motor 145 may have a first motor sensor 145s configured to detect the rotational position of the shaft 145a of the first motor 145, and the second motor 147 may have a second motor sensor 147s configured to detect the rotational position of the shaft 147a of the second motor 147.

[0108] Therefore, the electronic control device 110 can output signals for controlling the first motor 145 and the second motor 147 in the following manner: the sliding position of the rack rod 130 is determined by the above determination process based on the first position of the shaft 145a of the first motor 145 detected by the first motor sensor 145s and the second position of the shaft 147a of the second motor 147 detected by the second motor sensor 147s.

[0109] exist Figure 8 In an exemplary embodiment, in order to address the situation where either the first motor sensor 145s or the second motor sensor 147s is inoperable, a rotating gear 139, which is rotatably engaged with the rack gear 130b disposed on the rack 130, can be rotatably connected to the rack 130, and the rotation angle sensor 137s can be configured to detect the rotation angle of the rotating gear 139.

[0110] The rotating gear 139 can be configured to rotate while being supported on the rack housing by a support member. The rotation angle sensor 137s can be mounted on or around the shaft 137 of the rotating gear 139, and the rotation angle sensor 137s is configured to detect the rotation angle of the rotating gear 139 and transmit the rotation angle of the rotating gear 139 to the electronic control device 110.

[0111] Therefore, even if either the first motor sensor 145s or the second motor sensor 147s is inoperable, the electronic control device 110 can output a signal for controlling the first motor 145s and the second motor 147s in the following manner: determining the sliding position of the rack rod 130 based on the transmission ratio between the rack gear 130b and the rotary gear 139 stored in advance and the rotation angle of the rotary gear 139 received from the rotation angle sensor 137s.

[0112] Furthermore, various embodiments of the anti-rotation component or device described below can be incorporated into the aforementioned steering equipment.

[0113] The following will refer to Figures 9 to 18 To describe in more detail some embodiments of the anti-rotation component 150.

[0114] like Figure 9 As shown, the anti-rotation member 150 can be connected to one radial side and the other radial side of the rack 130 and supports the opposite sides of the rack 130 to prevent the rack 130 from rotating.

[0115] The anti-rotation member 150 may include: a shaft 230 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; and a support yoke 240 configured to support an outer peripheral surface of the rack 130 that is opposite to or corresponds to the position where the support shaft 230 is supported.

[0116] The support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0117] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and formed as a curved surface, a flat surface, or a combination thereof.

[0118] The support surface 130-1 extends along the axial direction of the rack 130 so as to be supported by the shaft 230 when the rack 130 slides along the axial direction of the rack 130.

[0119] Optionally, the coating layer may be applied to the support surface 130-1 and made of a low-friction material with a low coefficient of friction, such as fluoropolymer or ceramic, to minimize or reduce friction with the shaft 230.

[0120] The shaft 230 that supports the support surface 130-1 of the rack 130 may include an upper support portion 231, a body portion 233, and a lower support portion 235.

[0121] When the rack rod 130 slides, the shaft 230 is supported by the rack housing (e.g., Figure 10 The 160) is supported, and the shaft 230 is configured to rotate, such that the body part 233 supports the support surface 130-1 of the rack 130, thereby preventing the rack 130 from rotating.

[0122] The needle roller bearing 236 can be connected to the body portion 233 to minimize or reduce friction with the support surface 130-1 of the rack 130.

[0123] An upper support portion 231 having a diameter larger than that of the main body portion 233 can be disposed above the main body portion 233, and an upper support member 234 can be connected to the upper support portion 231 to be rotatably supported on the rack housing.

[0124] The top plug 232 can be connected to the upper side of the upper support portion 231 to prevent foreign objects from being introduced into the rack housing.

[0125] A lower support portion 235 having a diameter smaller than that of the main body portion 233 can be disposed below the main body portion 233, and a lower support member 238 can be connected to the lower support portion 235 to be rotatably supported on the rack housing.

[0126] The support yoke 240, which supports the outer peripheral surface of the rack 130 opposite to the position where the shaft 230 is supported, supports the rack 130 toward the shaft 230 when the rack 130 slides, thereby preventing the rack 130 from rotating.

[0127] The curved surface support portion 241 may be formed at the end portion of the support yoke 240 and may be supported on and in close contact with the outer peripheral surface of the rack 130. The curved surface support portion 241 may have the same curved surface as the outer peripheral surface of the rack 130.

[0128] The supporting yoke 240 may have a predetermined stiffness and elasticity, and may be made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0129] The elastic ring 245 can be attached to the outer peripheral surface of the supporting yoke 240 to prevent rattling noise from the rack housing.

[0130] One or more elastic rings 245 may be attached to the outer peripheral surface of the supporting yoke 240.

[0131] The elastic ring 245 can be made of a material capable of absorbing vibration and noise and having predetermined elasticity and stiffness. For example, the elastic ring 245 can be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0132] The plug-like portion 243 of the yoke can be connected to the end portion of the supporting yoke 240, press-fitted or threaded to the rack housing, and to fix the supporting yoke 240.

[0133] Furthermore, an elastomer can be connected between the support yoke 240 and the yoke plug 243, and elastically support the support yoke 240 toward the rack 130.

[0134] like Figure 10 As shown, the anti-rotation member 150 can be connected to one radial side and the other radial side of the rack 130 and supports the opposite sides of the rack 130 to prevent the rack 130 from rotating.

[0135] The anti-rotation member 150 may include: a needle roller bearing 220 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; a support yoke 225 rotatably connected to the needle roller bearing 220; and a rack bushing 229 configured to support the outer peripheral surface of the rack 130 opposite to the position where the needle roller bearing 220 is supported.

[0136] The support surface 130-1 can be formed on the outer peripheral surface of the rack 130. For example, the support surface 130-1 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0137] The support surface 130-1 can be recessed from the outer peripheral surface of the rack 130. The support surface 130-1 can be formed as a curved surface or a flat surface.

[0138] The support surface 130-1 extends along the axial direction of the rack 130. Furthermore, when the rack 130 slides along the axial direction of the rack 130, the support surface 130-1 can be supported by the needle roller bearing 220.

[0139] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the needle roller bearing 220.

[0140] The needle roller bearing 220 can be configured to support the support surface 130-1 of the rack 130. The needle roller bearing 220 can have a support shaft 221 disposed at the central portion of the needle roller bearing, and the support shaft 221 is fixed to the support yoke 225, so that the needle roller bearing 220 can be rotatably supported by the support yoke 225.

[0141] The outer ring 222 of the needle roller bearing 220 is supported on the support surface 130-1 and is configured to rotate when the rack 130 slides to prevent the rack 130 from rotating.

[0142] The outer ring 222 of the needle roller bearing 220 can be positioned at a point protruding from the end portion of the support yoke 225, such that the outer ring 222 can be supported on the support surface 130-1.

[0143] When the rack rod 130 slides, the support yoke 225 supports the needle roller bearing 220 toward the support surface 130-1 to prevent the rack rod 130 from rotating.

[0144] The supporting yoke 225 may have a predetermined stiffness and elasticity, and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0145] The elastic ring 226 can be attached to the outer peripheral surface of the supporting yoke 225 to prevent clicking noise with the rack housing 160.

[0146] One or more elastic rings 226 may be attached to the outer peripheral surface of the supporting yoke 225.

[0147] The elastic ring 226 can be made of a material capable of absorbing vibration and noise and having predetermined elasticity and stiffness. Therefore, the elastic ring 226 can be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0148] The yoke plug 227 can be connected to the end of the supporting yoke 225, press-fitted or threaded to the rack housing 160, and is configured to fix the position of the supporting yoke 225.

[0149] Furthermore, the elastomer 228 can be connected between the support yoke 225 and the yoke plug 227, and elastically supports the support yoke 225 by applying an elastic force toward the rack 130.

[0150] The rack bushing 229—which supports the outer peripheral surface of the rack rod 130 opposite to the outer peripheral surface supported by the needle roller bearing 220 of the rack rod 130—can be formed in a semi-cylindrical shape, which is made by cutting a portion of the outer peripheral surface of the rack bushing 229.

[0151] When the rack rod 130 slides, the rack bushing 229 supports the rack rod 130 toward the needle roller bearing 220 in the radial direction of the rack bushing 229.

[0152] The rack bushing 229 may have a curved surface that is the same as or corresponds to the outer peripheral surface of the rack rod 130, so as to be in close contact with and supported on the outer peripheral surface of the rack rod 130.

[0153] A bushing connection groove 166-1 that connects with the rack bushing 229 can be formed on the inner circumferential surface of the rack housing 160.

[0154] The rack bushing 229 may have a fixed protrusion 229a formed on or around the end portion of the outer peripheral surface of the rack bushing 229 to prevent the axial position of the rack bushing 229 from separating or rotating when the rack bar 130 slides.

[0155] The fixing groove 166-2 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 229a of the rack bushing 229 can be connected to the fixing groove 166-2 of the rack housing 160.

[0156] The rack bushing 229 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0157] exist Figure 11 In the illustrated embodiment, the anti-rotation member 150 can be configured to prevent the rack 130 from rotating about its central axis. The anti-rotation member 150 supports the outer peripheral surface of the rack 130 and can be supported on the inner peripheral surface of the rack housing 160.

[0158] The anti-rotation member 150 may include a support member 210 and an elastic member 212. One end portion of the support member 210 is disposed or supported in a rack support groove 132 formed on the outer peripheral surface of the rack bar 130, and the other end portion of the support member 210 is disposed or supported in a housing groove 162 formed on the inner peripheral surface of the rack housing 160. The elastic member 212 is connected to the support member 210 and is configured to elastically support the inner peripheral surface of the rack housing 160.

[0159] The rack support groove 132 formed on the outer peripheral surface of the rack rod 130 can be formed by machining or grinding the outer peripheral surface of the rack rod 130.

[0160] The rack support groove 132 can be recessed into the outer peripheral surface of the rack rod 130. The rack support groove 132 can have a curved surface or a flat surface.

[0161] The rack support groove 132 may be elongated along the axial direction of the rack rod 130, and when the rack rod 130 slides along the axial direction of the rack rod 130, the rack support groove 132 is supported by the support member 210.

[0162] The coating can be applied to the rack support groove 132 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the support member 210.

[0163] The housing groove 162 supported by the other end portion of the support member 210 may be formed at a position facing the rack support groove 132 in the radial direction of the rack rod 130.

[0164] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0165] The housing groove 162 can be recessed into the inner peripheral surface of the rack housing 160 and has a curved or flat surface, such that when the rack rod 130 slides in the axial direction of the rack rod 130, the support member 210 can prevent the rack rod 130 from rotating.

[0166] One end portion and the other end portion of the support member 210 are respectively connected to the rack support groove 132 and the housing groove 162, and a connecting groove 211 connected to the elastic member 212 is formed at the other end portion of the support member 210.

[0167] The support member 210 may have a predetermined stiffness and elasticity, and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0168] The elastic member 212 is connected to the connecting groove 211 of the support member 210, supporting the support member 210. It is configured to apply a spring force toward the rack rod 130 while being elastically supported on the inner circumferential surface of the rack housing 160, thus maintaining a predetermined interval between the support member 210 and the rack rod 130, preventing collision with the inner circumferential surface of the rack housing 160 when the rack rod 130 slides along its axial direction. Therefore, clicking noise between the support member 210 and the rack housing 160 can be prevented.

[0169] For example, the elastic member 212 can be formed as an arc-shaped thin plate.

[0170] The plug bolt 215 can be arranged at the axial end of the support member 210, can be configured to prevent the support member 210 from separating, and can be coupled to the inner circumferential surface of the rack housing 160. For example, the plug bolt 215 can be press-fitted and coupled to the inner circumferential surface of the rack housing 160.

[0171] The plug bolt 215 includes: a support portion 215a configured to support the support member 210 in the axial direction of the rack rod 130; and a fixing portion 215b extending from the support portion 215a and fixed to the inner circumferential surface of the rack housing 160.

[0172] The outer peripheral surface of the fixing part 215b has a threaded portion that is screwed onto the inner peripheral surface of the rack housing 160.

[0173] In addition, the fixing member 217 can be connected to the axial end of the plug bolt 215 to prevent the plug bolt 215 from loosening and separating.

[0174] A fixing protrusion 217a protruding in the radial direction of the rack housing 160 can protrude from the outer peripheral surface of the fixing member 217.

[0175] The fixing groove 164 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 217a of the fixing member 217 is inserted into the fixing groove 164 and supported by the fixing groove 164.

[0176] exist Figure 12 In one embodiment, the anti-rotation member 150 can be supported on the outer peripheral surface of the rack rod 130 and the inner peripheral surface of the rack housing, and prevent the rack rod 130 from rotating around the central axis.

[0177] The anti-rotation member 150 may include: a support bushing 205 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack 130; a bushing retainer 200 coupled to the outer peripheral surface of the rack 130 and having an inner peripheral surface that supports the support bushing 205; and an elastic member 207 coupled between the bushing retainer 200 and the support bushing 205 and configured to elastically support the support bushing 205 by applying an elastic force toward the rack 130.

[0178] For example, the support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0179] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and may have a curved surface or a flat surface.

[0180] The support surface 130-1 is elongated along the axial direction of the rack 130, and the support surface 130-1 is supported by the support bushing 205 when the rack 130 slides in the axial direction.

[0181] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the support bushing 205.

[0182] The housing groove 162 connected to and supported by the bushing retainer 200 is formed on the inner circumferential surface of the rack housing 160 and is positioned to face the support surface 130-1 in the radial direction of the rack rod 130.

[0183] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0184] The housing groove 162 can be recessed from the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0185] Additionally, a stepped protrusion 163 with a larger diameter at the end portion of the housing groove 162 may be formed on the inner circumferential surface of the rack housing 160, and the end portion of the stepped protrusion 163 may have an opening in the axial direction of the rack rod 130.

[0186] The bushing retainer 200 has a cylindrical shape. For example, the bushing retainer 200 may have a cut-out portion formed by cutting a radial side of the bushing retainer 200 and an inner circumferential protruding surface 201 that protrudes radially inward.

[0187] Furthermore, a bushing connection groove 203 for supporting the bushing 205 may be formed on the inner circumferential protruding surface 201. The flange portion 206 protrudes in the radial direction and is supported by or on the stepped protruding portion 163 of the rack housing 160, and may be formed at the axial end of the bushing retainer 200.

[0188] The flange portion 206 is supported by or rests on the stepped protrusion 163 to prevent the bushing retainer 200 from separating when the rack 130 slides in the axial direction.

[0189] The support bushing 205, which is connected to the bushing connection groove 203 of the bushing retainer 200, includes a protruding support portion 205a that protrudes from the central portion of the support bushing 205, and an elastic member 207 is connected to the protruding support portion 205a.

[0190] For example, the elastic member 207 can be formed in an annular shape and in a conical shape, wherein the inner and outer peripheral surfaces of the elastic member 207 are stepped in the axial direction, such that the protruding support portion 205a can be connected to the inner peripheral surface of the elastic member 207.

[0191] The elastic member 207 elastically supports the support bushing 205 to apply a spring force toward the rack 130, and the elastic member 207 can be positioned between the bushing retainer 200 and the support bushing 205 to form a gap or space 202, so that when the rack 130 slides in the axial direction, the support bushing 205 will not collide with the bushing retainer 200, thereby preventing or reducing the clicking noise between the support bushing 205 and the bushing retainer 200.

[0192] The bushing retainer 200 and the support bushing 205 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0193] exist Figure 13 In one embodiment, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating around the central axis of the anti-rotation member 150, and can be supported by the inner peripheral surface of the rack housing 160.

[0194] The anti-rotation member 150 may include: a rack bushing 250 having an inner peripheral support portion 251 and an outer peripheral support portion 253, the inner peripheral support portion 251 being inserted into and supported by a rack support groove 132 formed on the outer peripheral surface of the rack rod 130, and the outer peripheral support portion 253 being inserted into and supported by a housing groove 162 formed on the inner peripheral surface of the rack housing 160; and an elastic member 252 connected to the outer peripheral surface of the rack bushing 250 and configured to elastically support the rack bushing 250.

[0195] For example, the rack support groove 132 formed on the outer peripheral surface of the rack bar 130 can be formed by machining or grinding the outer peripheral surface of the rack bar 130.

[0196] The rack support groove 132 can be recessed from the outer peripheral surface of the rack bar 130 and can have a curved surface or a flat surface.

[0197] The rack support groove 132 is elongated along the axial direction of the rack rod 130 so that the rack support groove 132 is supported by the rack bushing 250 when the rack rod 130 slides in the axial direction.

[0198] The coating can be applied to the rack support groove 132 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 250.

[0199] The inner circumferential support portion 251 protrudes radially inward from the inner circumferential surface of the rack bushing 250 at a position facing the rack support groove 132.

[0200] The outer peripheral support portion 253 protrudes radially outward from the outer peripheral surface of the rack bushing 250 and is connected to the housing groove 162.

[0201] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0202] The housing groove 162 can be recessed from the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0203] Two or more peripheral support portions 253 may be formed on the peripheral surface of the rack bushing 250 and spaced apart from each other in the circumferential direction.

[0204] For example, a pair of outer peripheral support portions 253 can be formed on the outer peripheral surface of the rack bushing 250 in the circumferential direction at positions corresponding to the inner peripheral support portion 251.

[0205] The rack bushing 250 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0206] The elastic member 252 can be connected to the outer peripheral surface of the rack bushing 250 and has an annular shape.

[0207] The elastic member 252 may be made of a material capable of absorbing vibration and noise and having a predetermined elasticity and stiffness. Therefore, the elastic member 252 may be made of one or more materials selected from the following: natural rubber (NR), nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene diene monomer (EPDM), fluororubber (FPM), styrene-butadiene rubber (SBR), chlorosulfonated polyethylene (CSM), polyurethane, and silicone resin, which have the above-mentioned properties.

[0208] The connecting groove 252-1 to which the elastic member 252 is connected can be formed on the outer peripheral surface of the rack bushing 250.

[0209] The rack bushing 250 may have a cutout portion 254 cut in the axial direction, so that the rack bushing 250 can deform in the radial direction.

[0210] It is possible to set two or more circumferentially spaced cut portions 254.

[0211] The cut portion 254 can be formed such that one end or the other end of the rack bushing 250 is open at the location where the cut portion 254 is formed.

[0212] The cutout portion 254 open at one end of the rack bushing 250 and the cutout portion 254 open at the other end of the rack bushing 250 may be spaced apart from each other in the circumferential direction and formed in an alternating manner.

[0213] Therefore, the rack bushing 250 is elastically supported in the radial direction by the elastic force of the elastic member 252, so that when the rack rod 130 slides in the axial direction, the rack bushing 250 will not collide with the rack housing 160, thereby preventing or reducing the clicking noise between the rack bushing 250 and the rack housing 160.

[0214] exist Figure 14 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis of the rack rod 130, and the anti-rotation member 150 can be supported by the inner peripheral surface of the rack housing 160.

[0215] The anti-rotation member 150 may include: a rotation member 191 configured to support a support surface 130-1 formed on the outer peripheral surface of the rack bar 130; and a support bushing 190 configured to be connected to a housing groove 162 formed on the inner peripheral surface of the rack housing 160, and configured such that the rotation member 191 is rotatably connected to the support bushing 190.

[0216] For example, the support surface 130-1 formed on the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0217] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and has a curved surface or a flat surface.

[0218] The support surface 130-1 is elongated along the axial direction of the rack 130, so that it is supported by the rotating member 191 when the rack 130 slides in the axial direction.

[0219] Two or more support surfaces 130-1 may be formed on the outer peripheral surface of the rack 130 and spaced apart from each other along the axial direction of the rack 130.

[0220] For example, a pair of support surfaces 130-1 may be formed on opposite sides of the rack 130 relative to the central portion of the rack 130.

[0221] The rotating member 191 may be configured as a rolling or spherical member disposed in the inner surface of the support bushing 190 (e.g., disposed in one or more elongated holes of the support bushing 190), and the rotating member 191 may be configured to rotate or roll when supported on the support surface 130-1 of the rack 130.

[0222] The rotating member 191 is rotatably supported on both the inner and outer surfaces of the support bushing 190.

[0223] The coating may be applied to the support surface 130-1 and made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rotating component 191.

[0224] The housing groove 162, on which the support bushing 190 is arranged, may be formed on the inner circumferential surface of the rack housing 160 at a position on the support surface 130-1 facing the rotating member 191 in the radial direction.

[0225] The support bushing 190 is connected to the housing recess 162 of the rack housing 160, and the rotating member 191 is rotatably connected to the support bushing 190.

[0226] The support bushing 190 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0227] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0228] The housing groove 162 can be recessed from the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0229] exist Figure 15 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis, and the anti-rotation member 150 is supported by the inner peripheral surface of the rack housing.

[0230] The anti-rotation member 150 may include a rack bushing 180 having one or more rotational support portions 183, elastic support portions 185, and connecting portions 181. The rotational support portions 183 are rotatably arranged between a rack support groove 132 formed on the outer peripheral surface of the rack rod 130 and a housing groove 162 formed on the inner peripheral surface of the rack housing 160. The elastic support portions 185 are arranged between the rack support groove 132 formed on the outer peripheral surface of the rack rod 130 and the housing groove 162 formed on the inner peripheral surface of the rack housing 160 and are elastically supported by the rack support groove 132 and the housing groove 162. The connecting portions 181 connect the rotational support portions 183 and the elastic support portions 185.

[0231] The rack support groove 132 can be formed on the outer peripheral surface of the rack rod 130. For example, the rack support groove 132 can be formed by machining or grinding the outer peripheral surface of the rack rod 130.

[0232] The rack support groove 132 can be recessed from the outer peripheral surface of the rack bar 130 and includes a curved surface or a flat surface.

[0233] The rack support groove 132 is elongated along the axial direction of the rack rod 130, and when the rack rod 130 slides in the axial direction, the rack support groove 132 is supported by a rotary support portion 183 and an elastic support portion 185. The rotary support portion 183 and the elastic support portion 185 can be arranged in the rack support groove 132.

[0234] The housing groove 162 is formed on the inner circumferential surface of the rack housing 160 at a position that faces or corresponds to the rack support groove 132 in the radial direction.

[0235] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0236] The housing groove 162 can be recessed into the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0237] The coating may be applied to the rack support groove 132 and the housing groove 162 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 180.

[0238] The rack bushing 180 may have two or more rotating support portions 183 and / or two or more resilient support portions 185.

[0239] The spherical members can be connected to the rotary support portion 183, and the spherical members can be spaced apart from each other in the axial direction.

[0240] The elastic support portion 185 may have a generally cylindrical shape. The elastic support portion 185 may have an opening on one side.

[0241] The rack bushing 180 is elastically supported by the rack support groove 132 and the housing groove 162 through the elastic deformation force of the elastic support portion 185, thereby maintaining a predetermined gap so that the rack bushing 180 will not collide with the rack housing 160 when the rack rod 130 slides in the axial direction, thus preventing clicking noise between the rack bushing 180 and the rack housing 160.

[0242] exist Figure 16 In the embodiment shown, the anti-rotation member 150 can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis, and the anti-rotation member 150 can be supported by the inner peripheral surface of the rack housing 160.

[0243] The anti-rotation member 150 may include a rack bushing 170 having a first support portion 171 and a second support portion 175. The first support portion 171 may be configured to support a support surface 130-1 formed on the outer peripheral surface of the rack bar 130. The second support portion 175 may extend from or be connected to the first support portion 171, may be configured to support the outer peripheral surface of the rack bar 130, and may have an outer peripheral surface provided with a fixing protrusion 173 connected to a housing groove 162 formed on the inner peripheral surface of the rack housing 160.

[0244] For example, the support surface 130-1 formed on a portion of the outer peripheral surface of the rack 130 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0245] The support surface 130-1 may be recessed from the outer peripheral surface of the rack 130 and may have a curved surface or a flat surface.

[0246] The support surface 130-1 is elongated along the axial direction of the rack 130 so that the support surface 130-1 is supported by the first support portion 171 when the rack 130 slides in the axial direction.

[0247] The inner peripheral surface 171a of the first support portion 171 can be in close contact with the support surface 130-1 of the rack rod 130 and is supported by the support surface 130-1 of the rack rod 130, and the outer peripheral surface of the first support portion 171 can be spaced apart from the inner peripheral surface of the rack housing 160.

[0248] The coating may be applied to the support surface 130-1 and the outer peripheral surface of the rack rod 130 and is made of a low-friction material, such as fluoropolymer or ceramic, to minimize or reduce friction with the rack bushing 170.

[0249] The second support portion 175 extends from or connects to the first support portion 171 in the circumferential direction and surrounds the outer peripheral surface of the rack rod 130.

[0250] The fixed protrusion 173 protrudes radially from the outer peripheral surface of the second support portion 175.

[0251] The housing groove 162 can be formed on the inner circumferential surface of the rack housing 160, and the fixing protrusion 173 of the second support portion 175 can be inserted into or connected to the housing groove 162 to prevent the rack bushing 170 from rotating.

[0252] For example, the housing groove 162 may be formed by machining or grinding the inner circumferential surface of the rack housing 160.

[0253] The housing groove 162 can be recessed from the inner circumferential surface of the rack housing 160 and can have a curved surface or a flat surface.

[0254] The rack bushing 170 may have a predetermined stiffness and elasticity and is made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0255] exist Figure 17 In the embodiment shown, the anti-rotation member 150 can be supported by a guide cover 155 connected to the rack housing 160 and can support the outer peripheral surface of the rack rod 130 to prevent the rack rod 130 from rotating about the central axis.

[0256] The anti-rotation member 150 may include: a support member 151 connected to the outer peripheral surface of the rack bar 130; a guide cover 155 connected to the rack housing 160 and having an inner peripheral surface supported by the support member 151; and a fastener 159 configured to secure the guide cover 155 to the rack housing 160.

[0257] The support member 151 can be connected to the outer peripheral surface of the rack 130. For example, the support member 151 can be connected to the connecting groove 134 formed on the outer peripheral surface of the rack 130 by press fitting, bonding, or the like. The connecting groove 134 can be formed by machining or grinding the outer peripheral surface of the rack 130.

[0258] The connecting groove 134 can be recessed from the outer peripheral surface of the rack 130 and can have a curved surface or a flat surface.

[0259] The rack housing 160 may have an opening at a position opposite or corresponding to the support member 151, and the guide cover 155 is coupled to the opening of the rack housing 160 and covers the opening of the rack housing 160.

[0260] The inner peripheral surface of the guide cover 155 may have a support groove 155-1, into which the support member 151 is inserted and supported.

[0261] The support groove 155-1 of the guide cover 155 is elongated along the axial direction of the rack 130, so that when the rack 130 slides in the axial direction, the support member 151 can be supported by the support groove 155-1.

[0262] The support groove 155-1 may have, for example, but not limited to, a trapezoidal shape, which has a width that increases toward the support member 151.

[0263] The support member 151 may have a trapezoidal shape, which has a width that decreases from the outer peripheral surface of the rack 130 toward the support groove 155-1.

[0264] The two opposite side surfaces of the support groove 155-1 can be in close contact with and supported by the support member 151, and the inner top surface of the support groove 155-1 located between the two opposite side surfaces of the support groove 155-1 can be spaced apart from the end of the support member 151.

[0265] The coating may be applied to the support groove 155-1 or the support member 151 and is made of a low-friction material, such as fluoropolymer or ceramic, to reduce or minimize friction.

[0266] The support groove 155-1 may contain grease to minimize friction with the support member 151.

[0267] The guide cover 155 can be secured to the rack housing 160 by fasteners 159.

[0268] In addition, an elastic member 157 may be arranged between the guide cover 155 and the rack housing 160. The elastic member 157 is passed through by a fastener 159 and is configured to support the guide cover 155 and the rack housing 160 in an elastic manner.

[0269] A sealing member or seal 158 may be applied to the end of the guide cover 155 and the outer peripheral surface of the rack housing 160 to prevent moisture or dust from entering from the outside of the rack housing 160.

[0270] The support member 151 and the guide cover 155 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0271] exist Figure 18 In the embodiment shown, the anti-rotation member 150 can be supported by the housing cover 154 connected to the rack housing 160 and the outer peripheral surface of the rack rod 130, thereby preventing the rack rod 130 from rotating about the central axis of the rack rod 130.

[0272] The anti-rotation member 150 may include: a support member 151 that supports the outer peripheral surface of the rack bar 130; a housing cover 154 that is fixed to the rack housing 160 and has an inner peripheral surface connected to the support member 151; and a fastener 159 configured to secure the housing cover 154 to the rack housing 160.

[0273] A rack support groove 134 for supporting the support structure 151 is formed on the outer peripheral surface of the rack rod 130.

[0274] The rack support groove 134 is elongated or extends along the axial direction of the rack rod 130, so that when the rack rod 130 slides in the axial direction, the support member 151 can be supported by the rack support groove 134.

[0275] The rack support groove 134 can be recessed from the outer peripheral surface of the rack rod 130 and can have a curved surface or a flat surface.

[0276] The rack housing 160 has an opening at a position corresponding to or opposite to the rack support groove 134, and the housing cover 154 is connected to the opening of the rack housing 160.

[0277] The support groove 156 of the cover where the support member 151 is located can be formed on the inner peripheral surface of the housing cover 154.

[0278] The rack support groove 134 may have, for example but not limited to, a trapezoidal shape, which has a width that increases toward the housing cover 154.

[0279] The support member 151 may have a trapezoidal shape with a width that decreases from the cover support groove 156 toward the rack support groove 134.

[0280] The two opposite side surfaces of the rack support groove 134 can be in close contact with and supported by the support member 151, and the inner surface of the rack support groove 134 located between the two opposite side surfaces of the rack support groove 134 can be spaced apart from the end of the support member 151.

[0281] The coating can be applied to the rack support groove 134 or the support member 151 and is made of a low-friction material, such as fluoropolymer or ceramic, to reduce or minimize friction.

[0282] The rack support groove 134 may be provided or filled with grease to reduce or minimize friction with the support member 151.

[0283] The housing cover 154 can be secured to the rack housing 160 by fasteners 159.

[0284] A seal or sealing member 158 may be applied to the end of the housing cover 154 and the outer peripheral surface of the rack housing 160 to prevent moisture or dust from entering from the outside of the rack housing 160.

[0285] The support member 151 and the housing cover 154 may have a predetermined stiffness and elasticity, and are made of one or more materials selected from the following: polyoxymethylene (POM), polyamide (PA), polycarbonate (PC), polyimide (PI), polybutylene terephthalate (PBT), polyphenylene sulfide (PPS), and phenolic formaldehyde (PF).

[0286] As described above, the steer-by-wire steering device according to some embodiments of the present disclosure may have multiple motors and provide steering force to the rack. Furthermore, the steer-by-wire steering device according to some embodiments of the present disclosure can prevent unnecessary rotation of the rack, even when a device for preventing rack rotation is provided and the pinion is not included.

[0287] In the following sections, various embodiments relating to the method for determining the position of the rack in a steer-by-wire system will be described. Some embodiments of the method for determining the position of the rack described below can be applied without considering the aforementioned configuration, position, and shape of the motor. However, some embodiments of the method for determining the position of the rack can be applied to the aforementioned configuration, position, and shape of the motor. Furthermore, the method for determining the position of the rack can be applied to exemplary embodiments of steer-by-wire systems that do not include an anti-rotation member, or can be applied to any type of anti-rotation member.

[0288] In a steering system with steer-by-wire, the electronic control unit 110 can control the operation of one or more drive motors (e.g., 145 and 147). For example, the electronic control unit 110 can receive information or signals from one or more sensors associated with the vehicle, and control one or more drive motors based on the information or signals received from one or more sensors.

[0289] One or more sensors include various sensors such as steering angle sensors, steering torque sensors, vehicle speed sensors, rack position sensors, and any type of sensor associated with vehicle steering that is mounted or disposed in the vehicle. However, as described above, according to some embodiments of this disclosure, if the rack is configured to be moved by a first motor and a second motor, a pinion is not included in the steering device by wire. In this case, a rack position sensor configured to detect the absolute position of the rack is not included in the steering device by wire. Alternatively, a rack position sensor configured to detect the absolute position of the rack can be included in a gearbox configured to connect the first motor and / or the second motor to the rack.

[0290] First, various embodiments for confirming the absolute position (or absolute angle) of the rack will be described. Then, an embodiment including an absolute angle sensor configured to detect the absolute position (or absolute angle) of the rack will be described.

[0291] The electronic control unit 110 can control the operation of the steering shaft motor 120. The electronic control unit 110 can be configured as a single, physically integrated chip. Alternatively, the electronic control unit 110 can also be configured from multiple chips. For example, each of the reaction force motor, drive motor, main control unit, and any component of a steer-by-wire system includes one or more chips to perform its necessary operations.

[0292] Meanwhile, the electronic control unit 110 can control the vehicle's direction of travel according to the driver's steering intention by controlling the operation of multiple drive motors (e.g., 145 and 147).

[0293] Multiple electronic control units 110 can be configured in the steer-by-wire device to ensure redundant and continuous or stable execution of the same operation, even if any one of the multiple electronic control units 110 malfunctions or becomes inoperable. Alternatively, the multiple electronic control units 110 include a main electronic control unit and sub-electronic control units. When the main electronic control unit is functioning normally, it can control the operation of the steer-by-wire device; if the main electronic control unit malfunctions or becomes inoperable, the sub-electronic control units can control the operation of the steer-by-wire device.

[0294] The electronic control unit 110 can control the steering of the vehicle in response to various information. Steer-by-wire (SBW) systems may require precise information about the position of the rack and pinion to accurately control the steering of the vehicle, especially when multiple motors are used to control the rack and pinion.

[0295] For this purpose, the electronic control unit 110 can receive the position information of the rack lever from the rack position sensor. Alternatively, the electronic control unit 110 can estimate the position of the rack lever by using the positions of multiple motors when a rack position sensor is not available.

[0296] For example, the electronic control device 110 can receive rotation information of each of the motors from a plurality of motor position sensors. In an exemplary embodiment of this disclosure, the motor rotation information may include rotation information of a first motor and rotation information of a second motor. The rotation information of the first motor can be received from a first motor position sensor included in or associated with the first motor. The rotation information of the second motor can be received from a second motor position sensor included in or associated with the second motor.

[0297] Motor position sensors can detect the rotational information of each motor within a motor system. Motor position sensors can detect the rotation of the motor shaft. Alternatively, motor position sensors can detect the rotation of any rotatable component or structure connected to or associated with the motor shaft. Motor position sensors can detect rotational positions between 0 and 360 degrees related to the motor's rotation. For example, motor position sensors can measure the motor's rotational angle and / or position.

[0298] For example, the motor position sensor may be an optical sensor or encoder configured to detect position by emitting light toward a rotating plate or disk. Alternatively, the motor position sensor may be a magnetic sensor or encoder configured to measure the rotor position by detecting a magnetic field. Alternatively, the motor position sensor may be an incremental sensor or encoder configured to measure changes in the relative position of the rotor by outputting predetermined pulses. Alternatively, the motor position sensor may be an absolute sensor or encoder configured to measure the absolute position of the rotor by outputting a unique value associated with a specific position. Motor position sensors according to certain embodiments of this disclosure can provide precise position and / or speed of the motor.

[0299] For example, a Hall sensor can be used as a motor position sensor, which measures the motor position by detecting changes in the magnetic flux of a rotor attached to or mounted with a permanent magnet or magnetic material. The motor in a steer-by-wire steering device can be a brushless direct current (BLDC) motor, and three Hall sensors with a phase difference of 120 degrees or 60 degrees can be arranged or configured to detect the motor position. Furthermore, the motor position sensor can be a resolver configured to measure position analogously using voltage changes, or it can be an inductive position sensor configured to detect position using the principle of electromagnetic induction. In this disclosure, any type of sensor can be used as a motor position sensor.

[0300] Motor position sensors can measure absolute position or absolute angle values ​​based on a specific position of the motor. Alternatively, motor position sensors can detect relative position with respect to a reference position. Alternatively, motor position sensors can measure the electrical position of the rotor in a BLDC motor or a permanent magnet synchronous motor (PMSM).

[0301] A single rotation angle is between 0 and 360 degrees, and therefore, the rotation angle can only be represented in a single rotation. Since the rotor angle of the motor is reset after one complete rotation, the absolute position of the motor beyond 360 degrees may not be verifiable. However, absolute motor position sensors exist that can measure the motor's position over multiple rotations, but these sensors are complex in configuration and structure and are expensive.

[0302] In the absence of the use of absolute motor position sensors, some embodiments of this disclosure obtain the absolute position of the rack by using at least two motor position sensors that measure relative position.

[0303] For example, when two motors move the same rack and pinion at different rotational speeds, the rotation angles measured by the two motor position sensors of the two motors can be between 0 and 360 degrees. If the motor position sensor is not an absolute angle sensor, the angle measured by that motor position sensor is not recorded or stored, and the rotation angle detected by the motor position sensor of the first motor can be between 0 and 360 degrees, while the rotation angle detected by the motor position sensor of the second motor can be between 0 and 360 degrees.

[0304] The electronic control unit 110 can receive rotation angles detected by the motor position sensor of the first motor and rotation angles detected by the motor position sensor of the second motor. The electronic control unit 110 estimates the absolute position of the rack lever by using the two rotation angles (i.e., motor positions) detected by each of the two motor position sensors of the two motors.

[0305] As described above, in some embodiments of this disclosure, the first motor and the second motor are operably connected to a single ball nut (which is operably coupled to a rack) and move the rack at different rotational speeds. Therefore, even though the first motor and the second motor rotate at different speeds, they need to rotate the ball nut at the same speed. Thus, the motor pulleys of the first motor and the second motor can be constructed with different gear ratios.

[0306] The transmission ratio can refer to, for example, but not limited to, the ratio of the number of threads or diameter of pulleys. For instance, the transmission ratio could be the ratio of the number of threads or diameter of the motor pulley connected to the motor shaft of the first motor to the number of threads or diameter of the motor pulley connected to the motor shaft of the second motor. If the diameters of the motor pulleys are different, the transmission ratio may be significantly different.

[0307] The first motor and the second motor can rotate at different rotational speeds, and the electronic control device 110 can receive different motor rotation information from the motor position sensors of the first motor and the second motor.

[0308] The electronic control device 110 can determine the absolute position of the rack lever by using predetermined information and the motor rotation information of the first motor and the second motor.

[0309] For example, the difference in rotational speed between two motors can vary depending on the absolute position of the rack.

[0310] For example, the electronic control device 110 can determine the absolute position of the rack by detecting changes in the rotation information of the two motors. For example, the electronic control device 110 can determine the position of the rack by using Formula 1.

[0311] [Formula 1]

[0312] R represents the linear position of the rack; θ represents the phase difference between the first rotation information of the first motor and the second rotation information of the second motor; K represents the distance the rack is moved when the phase difference between the first and second rotation information changes from 0 and the next phase difference becomes 0 when the rack moves in one direction; and n represents the number of times the phase difference becomes 0 when the rack moves in one direction.

[0313] In other words, the electronic control device 110 can confirm the position of the rack rod by continuously monitoring the phase difference between the first rotation information of the first motor and the second rotation information of the second motor and recording the number of times the phase difference becomes 0.

[0314] In another example, the electronic control device 110 can determine the position of the rack based on preset reference values. The range of motion of the rack is structurally limited. Therefore, multiple positions of the rack corresponding to the first rotation information of the first motor and the second rotation information of the second motor can be pre-calculated, and the calculated multiple positions of the rack can be stored in the memory of the electronic control device 110 in tabular form or other data format.

[0315] Upon receiving first rotation information from the first motor and second rotation information from the second motor, the electronic control device 110 can estimate the absolute position of the rack by comparing the first and second rotation information with pre-stored data. However, in this case, the first and second rotation information need to be designed to have different values ​​within the linear movement range of the rack. Therefore, the transmission ratio difference between the first and second motors needs to be set such that the first and second rotation information do not overlap or correspond to two or more absolute positions of the rack.

[0316] For example, the electronic control device 110 can estimate the absolute position of the rack by using Formula 2.

[0317] [Formula 2] A = {(First rotational information + m) × First transmission ratio} B = {(Second rotation information + m) × Second transmission ratio} The rack rod is located at the intersection of points A and B.

[0318] Here, m is a natural number greater than or equal to 1 and less than or equal to the maximum movable distance of the rack.

[0319] Figure 19 It is a graph used to illustrate a method for estimating the position of a rack and pinion using the difference between the first rotation information of the first motor and the second rotation information of the second motor. Figure 19 The diagram illustrates the relationship between the first rotational information of the first motor, the second rotational information of the second motor, and the linear position of the rack within a movable range of 0 mm to 75 mm (or + / - 85 mm). As described above, the first and second transmission ratios can be set such that the first rotational information of the first motor and the second rotational information of the second motor do not overlap or correspond to multiple positions of the rack.

[0320] Now refer to Figure 20 This illustration shows a steer-by-wire system 10 for use in a vehicle 1 according to an exemplary embodiment. In conventional automotive steering systems, such as electric power steering (EPS) systems, the steering wheels are mechanically connected to one or more road wheels (e.g., the front road wheels). However, the steer-by-wire system 10 according to embodiments of this disclosure eliminates such mechanical connections, instead electronically controlling the steering angle of the road wheels 30 based on measurements from the steering wheels or handwheel 20 and / or one or more control signals from the controller 50, and providing feedback to the driver or operator of the vehicle 1 using multiple actuators, such as electric motors. Furthermore, in the steer-by-wire system 10, the steering angle of the road wheels 30 can be controlled by one or more control signals generated by an automated driving system or advanced driver assistance system (ADAS) and / or by the controller 50 based on data from one or more sensors.

[0321] The steer-by-wire system 10 allows the driver or operator of vehicle 1 to control the direction of vehicle 1 or the road wheels 30 of vehicle 1 by manipulating the steering wheels 20. The steering wheels 20 are operatively or mechanically coupled or fixed to the steering axle (or steering column) 22. The steering wheels 20 may be directly or indirectly connected to the steering axle 22. For example, the steering wheels 20 may be connected to the steering axle 22 via gears, shafts, belts, and / or any connecting device. Alternatively, the steering wheels 20 may be fixed to the steering axle 22. The steering axle 22 may rotate with the steering wheels 20.

[0322] One or more steering wheel sensors 40 may be configured to detect the position, angular displacement, or travel 25 of the steering shaft 22 or steering wheel 20, as well as the torque of the angular displacement or travel 25 of the steering shaft 22 or steering wheel 20. The steering wheel sensors 40 provide electrical signals representing the angular displacement and / or torque 25 to the controller 50. The controller 50 sends signals to and / or receives signals from the upper actuator 27 (e.g., a steering feedback actuator with an electric motor) to actuate the upper actuator 27 in response to the angular displacement and / or torque 25 of the steering wheel 20. The upper actuator 27 rotates or moves the steering wheel 20 in response to a control signal received from the controller 50, thereby providing feedback to the driver or operator (similar to the feedback provided by the wheels in a manually steering vehicle).

[0323] In the steer-by-wire system 10, the steering wheel 20 can be mechanically isolated from the road wheel 30. Therefore, the steer-by-wire system 10 needs to provide the driver or operator with the same "road feel" as received through a direct mechanical connection. Furthermore, it is ideal to have a device that provides a mechanical backup "road feel" in the event of a failure of multiple electronic devices in the steer-by-wire system. Additionally, a device is needed to provide a positive center feel and precise torque variation when the handwheel is rotated. Therefore, the vehicle 1 may include an upper actuator 27 (e.g., a steering feedback actuator).

[0324] The upper actuator 27 may include, for example (but not limited to), an electric motor connected to the steering shaft or steering column 22. For example, a gear or belt assembly may connect the output of the upper actuator 27 to the steering shaft 22. Alternatively, the upper actuator 27 may be directly coupled to the steering shaft 22 or the handwheel 20. The upper actuator 27 can be actuated to provide resistance to the rotation of the steering wheel 20. The controller 50 is electrically connected to the sensor 40 and coupled to the upper actuator 27. The controller 50 receives signals from the sensor 40 representing the torque and angular rotation 25 applied to the steering wheel 20. In response to the signals from the sensor 40, the controller 50 generates and transmits signals corresponding to the sensed torque and angular rotation of the steering wheel 20 sensed by the sensor 40, and the upper actuator 27 generates a resistance torque to the rotation of the steering wheel 20 in response to the signals from the controller 50, providing steering feel to the driver.

[0325] The controller 50 also sends signals or commands to the lower actuator 32 (e.g., a road wheel actuator). The lower actuator 32 controls the linear movement of the steering rack 36 in response to the control signal received from the controller 50. For example, the lower actuator 32 generates rotational movement in response to the control signal from the controller 50, and the rotational movement of the lower actuator 32 is converted into linear movement of the steering rack 36. The connecting rod and steering knuckle 37 connect the steering rack 36 to the road wheel or wheel 30 and convert the linear movement of the steering rack 36 into rotation of the road wheel 30.

[0326] During operation, the steering wheel 20 is displaced 25 degrees, causing the steering shaft 22 to also be displaced 25 degrees. The sensor 40 detects the angular displacement and torque 25 of the steering shaft 22 connected to the steering wheel 20, and sends a signal representing the relative amount of the angular displacement and / or torque 25 of the steering shaft 22 to the controller 50. The controller 50 sends a control signal representing the relative amount of the angular displacement and / or torque of the steering shaft 22 to the lower actuator 32. In response, the lower actuator 32 moves the steering rack 36, causing the road wheel 30 to rotate. Therefore, the controller 50 controls the distance the steering rack 36 is moved based on the amount of the angular displacement 25 of the steering wheel 20. The movement of the steering rack 36 manipulates the connecting rod and the steering knuckle 37 to reposition the road wheel 30 of the vehicle 1. Thus, when the steering wheel 20 is rotated, the road wheel 30 is controlled to rotate.

[0327] To perform the prescribed functions and the required processing and corresponding calculations (e.g., confirmation of motor parameters, one or more control algorithms, etc.), controller 50 may include, but is not limited to, one or more processors, one or more computers, one or more DSPs, memory, storage devices, one or more registers, timers, one or more interrupts, one or more communication interfaces, input / output signal interfaces, etc., and combinations including at least one of the foregoing. For example, controller 50 may include input signal processing and filtering components to enable accurate sampling, conversion, or acquisition of these signals from the communication interface. Although Figure 20 The controller 50 is shown as a single controller, but those skilled in the art will understand that the controller 50 may be distributed among multiple vehicle controllers, such as in the first circuit 320 of the first power group 300 and the second circuit 420 of the second power group 400.

[0328] Figure 21 This is a perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 22 This is a cross-sectional view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 23This is a partial cross-sectional view used to illustrate a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 22 This is a cross-sectional view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 23 This is a partial cross-sectional view used to illustrate a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figures 24 to 25 This is a partial perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figures 26 to 27 This is a partial cross-sectional view used to illustrate a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 28 This is a partial plan view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure. Figure 29 This is a partial perspective view illustrating a steer-by-wire system according to an exemplary embodiment of the present disclosure.

[0329] The lower actuator 32 (e.g., a road wheel actuator) may include a first power unit 300 and a second power unit 400.

[0330] The first power unit 300 may include a first motor 310, a first circuit 320, and a first sealing support 330, wherein the first motor 310 has a first motor shaft 311. The second power unit 400 may include a second motor 410, a second circuit 420, and a second sealing support 430, wherein the second motor 410 has a second motor shaft 411.

[0331] The first circuit 320 and the second circuit 420 may include any suitable circuitry and electronic components, such as a microprocessor, processor, computer, and / or memory mounted on the first circuit 320 and the second circuit 420. The first circuit 320 and the second circuit 420 may be configured to control the first motor 310 and the second motor 320, such as, but not limited to, supplying power to the first motor 310 and the second motor 320, enabling or disabling the operation of the first motor 310 and the second motor 320, and changing the speed and / or rotation direction of the first motor 310 and the second motor 320.

[0332] The first sealing support 330 or the second sealing support 430 supports the first motor shaft 311 or the second motor shaft 411, allowing the first motor shaft 311 or the second motor shaft 411 to be rotatably supported by the first sealing support 330 or the second sealing support 430 for smooth rotation. The first sealing support 330 or the second sealing support 430 may have one or more sealing covers or protective barriers mounted on the side of the support to prevent the influence of external contaminants such as dust, sand, and water. For example, the first sealing support 330 or the second sealing support 430 may be positioned around a hole in the first power unit housing 350 or the second power unit housing 450 through which the first motor shaft 311 or the second motor shaft 411 passes, and thus the first sealing support 330 or the second sealing support 430 can prevent external contaminants such as dust, moisture, and debris from entering the first power unit housing 350 or the second power unit housing 450. The common feature of the first sealing support 330 or the second sealing support 430 is that they prevent external contaminants from entering the first power unit 300 or the second power unit 400 from the gear cavity. Because the first sealing support 330 or the second sealing support 430 incorporates an integrated seal, less space may be required in the first power unit 300 or the second power unit 400, and production efficiency can be improved.

[0333] The first drive pulley 360 may be disposed on the first motor shaft 311. For example, the first drive pulley 360 may be directly formed on or attached to the first motor shaft 311. The first drive pulley 360 may have an outer surface that engages with the inner surface of the first drive belt 370. The first drive pulley 360 of the first power unit 300 is rotatably connected to the rotation to linear conversion mechanism 500 via the first drive belt 370. For example, the first drive belt 370 connects the first drive pulley 360 of the first power unit 300 to the driven pulley 520 of the rotation to linear conversion mechanism 500. The first motor 310 may provide rotational torque to the first drive pulley 360 via the first motor shaft 311. The rotational force of the first drive pulley 360 is transmitted to the first drive belt 370. When the rotational force is applied to the first drive belt 370, the rotational force of the first motor 310 of the first power unit 300 is transmitted to the rotation to linear conversion mechanism 500.

[0334] The second drive pulley 460 may be disposed on the second motor shaft 411. For example, the second drive pulley 460 may be directly formed on or attached to the second motor shaft 411. The second drive pulley 460 may have an outer surface that engages with the inner surface of the second drive belt 470. The second drive pulley 460 of the second power unit 400 is rotatably connected to the rotation to linear conversion mechanism 500 via the second drive belt 470. For example, the second drive belt 470 operably connects the second drive pulley 460 of the second power unit 400 to the driven pulley 520 of the rotation to linear conversion mechanism 500. The second motor 410 may provide rotational torque to the second drive pulley 460 via the second motor shaft 411. The rotational force of the second drive pulley 460 is transmitted to the second drive belt 470. When the rotational force is applied to the second drive belt 470, the rotational force of the second motor 410 of the second power unit 400 is transmitted to the rotation to linear conversion mechanism 500.

[0335] The rotation-to-linear conversion mechanism 500 (e.g., a nut-screw mechanism and a ball nut-screw mechanism) can be configured to convert rotational motion transmitted from a first motor 300 and / or a second motor 400 via a first drive belt 310 and / or a second drive belt 410 into linear motion, so that the steering rack 36 moves linearly. The rotation-to-linear conversion mechanism 500 may include a rotatable cylindrical portion 510.

[0336] The rotatable cylindrical portion 510 may include a nut or a ball nut. At least a portion of the steering rack 36 is held within or surrounded by the rotatable cylindrical portion 510. The rotatable cylindrical portion 510 has an internally threaded track groove 521 located on its inner surface, while at least a portion of the steering rack 32 has an externally threaded track groove 615 for a rotatable arrangement of the rotatable body 522 (e.g., a ball). The rotatable body 522 is arranged between the internally threaded track groove 521 of the rotatable cylindrical portion 510 and the externally threaded track groove 615 of the steering rack 36. The rotatable body 522 may be a metal ball, thereby reducing friction and transferring loads between adjacent components. The rotatable cylindrical portion 510 is rotatably supported by the steering rack 36 via the rotatable body 522 and the support member 540. However, in alternative embodiments of this disclosure, the internally threaded track groove 521 of the rotatable cylindrical portion 510 and the externally threaded track groove 615 of the steering rack 36 can directly engage with each other without the rotatable body 522. The driven pulley 520 can be formed directly on or attached to the rotatable cylindrical portion 510.

[0337] The support member 540 supports the rotatable cylindrical portion 510 of the rotation-to-linear conversion mechanism 500, enabling the support member 540 to support the rotational movement of the rotatable cylindrical portion 510. The support member 540 may be, for example, but not limited to, a four-point bearing. The support member 540 may be positioned between the rotation-to-linear conversion mechanism 500 and a non-rotating structural member, such as, but not limited to, a first housing portion 380 or a second housing portion 480. The support member 540 is used to rotatably support the rotatable cylindrical portion 510 so that the rotatable cylindrical portion 510 rotates relative to the non-rotating structural member.

[0338] The inner ring 541 of the support member 540 can be integrated with the rotatable cylindrical portion 510 as a single piece, such that the inner ring 541 of the support member 540 engages with a nut or ball nut that rotates to the linear conversion mechanism 500 to form a single cylindrical portion, thereby providing a simpler assembly process and reducing manufacturing costs. For example, the inner ring 541 of the support member 540 can be integrally formed on the outer surface of the rotatable cylindrical portion 510. Alternatively, the inner ring 541 can be mounted to the outer surface of the rotatable cylindrical portion 510 as a separate piece from the rotatable cylindrical portion 510.

[0339] The support member 540 may include an outer ring (or outer annular member) 542. The outer ring 542 may be concentrically positioned around the inner ring 541 in a plane with a rolling element 543 located between the outer ring 542 and the inner ring 541: this plane is substantially perpendicular to the axis of rotation of the rotatable cylindrical portion 510 or the inner ring 541, or the axis of translation of the rack 36. The inner ring 541 is rotatable, while the outer ring 542 is substantially non-rotatable.

[0340] The rack housing 560 accommodates at least a portion of the steering rack 36, the rotatable cylindrical portion 510, and the support member 540. The rack housing 560 has a recess 561 recessed from its inner surface. The outer ring or outer annular member 542 of the support member 540 has a flange portion 544 projecting radially from its outer surface. The flange portion 544 of the outer ring 542 has an outer diameter larger than the outer diameter of the other portions of the outer ring 542. The flange portion 544 of the outer ring 542 of the support member 540 is arranged within the recess 561 of the rack housing 560 such that the outer ring or outer annular member 542 of the support member 540 can be securely fixed within the rack housing 560. Because of the flange portion 544 of the outer ring or outer annular member 542 of the support member 540, the support member 540 can be securely held in the rack housing 560 without the need for additional retaining elements for the support member 540, such as locking rings.

[0341] The rack housing 560 may include multiple components. For example, the rack housing 560 includes a first housing portion 380 and a second housing portion 480. A first recessed portion 381 with a groove 561 may be formed at the end portion of the first housing portion 380, and a second recessed portion 481 with a groove 561 may be formed at the end portion of the second housing portion 480, such that the first recessed portion 381 of the first housing portion 380 and the second recessed portion 481 of the second housing portion 480 can form a groove 561 into which the flange portion 544 of the outer ring 542 of the support member 540 is inserted. With this configuration, the process of assembling the support member 540 and the first support member 545 into the rack housing 560 is simplified. One or more fasteners 563, such as bolts, can secure the first housing portion 380 and the second housing portion 480 to each other.

[0342] At least a portion of the first support member 545 can be positioned within a groove 561 of the rack housing 560 together with the flange portion 544 of the outer ring of the support member 540 or the outer annular member 542. The first support member 545 can resiliently support the flange portion 544 of the outer ring of the support member 540 or the outer annular member 542. Figure 23 and Figure 24 As shown, the first support 545 is located on the side of the flange portion 544 facing the driven pulley 520. Alternatively, the first support 545 or an additional support may be located on the other side 548 of the flange portion 544.

[0343] When the first support 545 is arranged on one side of the outer ring or outer annular member 542 of the support 540 where the flange portion 544 is formed, the second support 546 can be located on the opposite side of the outer ring or outer annular member 542 of the support 540, so that the second support 546 can elastically support the opposite side of the outer ring or outer annular member 542.

[0344] The first support 545 and the second support 546 can prevent clicking and claddering that may be caused by movement of the outer ring or outer annular member 542 of the support 540. The rack housing 560 may include one or both of the first support 545 and the second support 546.

[0345] The third support member 513 can support the side of the driven pulley 520 and is arranged in a groove 514 recessed from the outer surface of the rotatable cylindrical portion 510.

[0346] The first support member 545, the second support member 546, and the third support member 513 may comprise an elastic material and have an annular shape, such as a wavy annular member. For example, the first support member 545, the second support member 546, and the third support member 513 may be a rubber ring, a spring, or an annular metal component (e.g., a wavy spring or a wavy washer) with a wavy or corrugated shape. However, any material or shape may be used if the first support member 545, the second support member 546, and the third support member 513 can adequately support the flange portion 544 or other portions of the outer ring or outer annular member 542, or the driven pulley 520.

[0347] A first drive belt 370, operably connected to a first motor 310 of a first power unit 300, is rotatably connected to a portion of a driven pulley 520. A second drive belt 470, operably connected to a second motor 410 of a second power unit 400, is rotatably connected to the other portion of the driven pulley 520. The outer diameters of the portion of the driven pulley 520 connected to the first drive belt 370 and the other portion connected to the second drive belt 470 can be the same. However, if a vernier algorithm is required to confirm the linear position of the steering rack 36, the outer diameters of the portion of the driven pulley 520 connected to the first drive belt 370 and the other portion connected to the second drive belt 470 can be different. Furthermore, the number of teeth on the portion of the driven pulley 520 that is rotatably connected to the first motor 310 of the first power group 300 and rotates to the rotatable portion 510 of the linear conversion mechanism 500, and the number of teeth on the other portion of the driven pulley 520 that is rotatably connected to the second motor 410 of the second power group 400, are the same. However, if a vernier algorithm is required to confirm the linear position of the steering rack 36, the number of teeth on the portion of the driven pulley 520 that is rotatably connected to the first motor 310 of the first power group 300 and the number of teeth on the other portion of the driven pulley 520 that is rotatably connected to the second motor 410 of the second power group 400, and the number of teeth on the other portion of the driven pulley 520, can be different.

[0348] A flange protruding from the outer surface of the driven pulley 520 of the rotation-to-linear conversion mechanism 500 can be located between the first drive belt 370 and the second drive belt 470, such that the first drive belt 370 and the second drive belt 470 are positioned spaced apart from each other to hold the first drive belt 370 and the second drive belt 470 in place and prevent the first drive belt 370 and the second drive belt 470 from interfering with each other.

[0349] The first drive pulley 360 of the first power group 300 and the second drive pulley 460 of the second power group 400 are rotatably connected, respectively, to a driven pulley 520 that rotates to the linear conversion mechanism 500 via the first drive belt 370 and the second drive belt 470. The configuration of the belts 370 and 470 allows the inner engagement surfaces of the belts 370 and 470 to surround and engage with the first drive pulley 360 of the first power group 300, the second drive pulley 360 of the second power group 400, and the driven pulley 520 that is fixed to the rotatable portion 510 of the linear conversion mechanism 500. The rotational movement of at least one of the first drive pulley 360 of the first power group 300 and the second drive pulley 460 of the second power group 400 causes the driven pulley 520 and the rotatable portion 510 of the rotation to linear conversion mechanism 500 to rotate, and then the rotational movement of the rotatable portion 510 of the rotation to linear conversion mechanism 500 is converted into the linear movement of the steering rack 36 by the rotation to linear conversion mechanism 500.

[0350] The first motor position sensor 390 responds to rotation of the first motor shaft 311. The first motor position sensor 390 can be arranged in a sensing relationship with the first motor shaft 311. For example, the first motor position sensor 390 can be positioned adjacent to or around the first motor shaft 311. The first motor position sensor 390 can detect or sense the angular position of the first motor 310 within a single revolution range (i.e., the range from 0 degrees to 360 degrees) (such as the angular position of the first drive gear 710 or the angular position of the first motor shaft 311). The first motor position sensor 390 can generate an output signal representing the sensed angular position of the first motor shaft 311. The first motor position sensor 390 is mounted on and electrically connected to the first circuit board 320.

[0351] The second motor position sensor 490 responds to the rotation of the second motor shaft 411. The second motor position sensor 490 can be arranged in a sensing relationship with the second motor shaft 411. For example, the second motor position sensor 490 can be positioned adjacent to or around the second motor shaft 411. The second motor position sensor 490 can detect or sense the angular position of the second motor 410 within a single revolution range (i.e., the range from 0 degrees to 360 degrees) (such as the angular position of the second drive gear 810 or the angular position of the second motor shaft 411). The second motor position sensor 490 can generate an output signal representing the sensed angular position of the second motor shaft 411. The second motor position sensor 490 is mounted on and electrically connected to the second circuit board 420.

[0352] The first motor position sensor 390 can be any suitable one or more devices for generating a signal in response to rotation of the first motor shaft 311. For example, the first motor position sensor 390 can be an inductive sensor, a magnetic sensor (e.g., a Hall effect sensor), a magnetoresistive (MR) sensor, or any other sensor known in the art with similar capabilities.

[0353] In one embodiment, the first motor position sensor 390 may be a magnetic sensor (e.g., a Hall effect sensor). The first motor shaft 311 may include a magnetic material, such as a permanent magnet. For example, a first magnet 715 may be mounted on the end of the first motor shaft 311. The first motor shaft 311 has a first shaft cover 711 covering the end of the first motor shaft, and the first magnet 715 may be disposed within the interior space of the first shaft cover 711 or connected to the first shaft cover 711. In another example, a magnetic gradient is formed on the surface of the first motor shaft 311, and this magnetic gradient is defined by a plurality of alternating north-south magnetically charged elements spaced circumferentially around the circumferential portion of the first motor shaft 311. The magnetic field between the magnetic material of the first motor shaft 311 and the first motor position sensor 390 may vary depending on the angular displacement of the first motor shaft 311. The first motor position sensor 390 may sense or detect the magnetic field around the first motor shaft 311 to confirm the angular position of the first motor 310.

[0354] In another embodiment, the first motor position sensor 390 may be an inductive sensor. This inductive sensor may be configured to operate based on the principle of electromagnetic induction to detect or measure nearby metallic objects. When current flows through the sensor, the sensor generates a magnetic field. Alternatively, current will flow through a circuit containing the sensor when the magnetic field changes. This effect can be used to detect metallic objects that interact with a magnetic field. For example, the inductive sensor according to embodiments of this disclosure may utilize various aspects described in U.S. Patent Application Serial No. 18 / 930,897, entitled "Inductive Sensor System Including Sensing Torque and Position Sensor Assembly," the entire contents of which are incorporated herein by reference. In an embodiment of the inductive sensor, an excitation or transmitter coil assembly configured to generate an electromagnetic field on the first motor shaft 311, and a receiver coil assembly configured to detect the electromagnetic field around the first motor shaft 311, may be included in or mounted to the first circuit board 320. A metal material element, such as a target element, having a metal pattern or one or more conductive loops configured to influence the electromagnetic field generated by the excitation or transmitter coil assembly, may be included in or attached to the first motor shaft 311 in place of the first magnet 715. The inductive sensor can reduce the size of the first power unit 300 and lower the manufacturing cost of the steer-by-wire system 10.

[0355] The first motor shaft 311 has a first drive gear 710. The first drive gear 710 can be attached to the first motor shaft 311 or can be formed directly as a toothed portion on the outer surface of the first motor shaft 311. For example, Figure 26 and Figure 27 As shown, the first drive gear 710 can be directly formed on the outer surface of the first shaft cover 711 or attached to the outer surface of the first shaft cover 711. When the first motor shaft 311 rotates, the first drive gear 710 rotates together.

[0356] The first driven gear 720 is rotatably engaged with the first drive gear 710 of the first motor shaft 311. When the first motor shaft 311 rotates, the first drive gear 710 of the first motor shaft 311 drives the first driven gear 720 to rotate. The first driven gear 720 can be rotatably mounted on the inner surface of the first power unit housing 350.

[0357] The diameter of the first driven gear 720 or the number of teeth of the first driven gear 720 is greater than the diameter of the first drive gear 710 or the number of teeth of the first drive gear 710, so as to accurately confirm the angular position of the first driven gear 720 and easily make the transmission ratio associated with the first driven gear 710 and the second driven gear 810 different.

[0358] The first gear position sensor 730 responds to the rotation of the first driven gear 720. The first gear position sensor 730 can be arranged in a sensing relationship with the first driven gear 720. For example, the first gear position sensor 730 can be positioned near or around the first driven gear 720. The first gear position sensor 730 can detect or sense the angular position of the first driven gear 720 within a single rotation range (i.e., a range from 0 degrees to 360 degrees). The first gear position sensor 730 can generate an output signal representing the sensed angular position of the first driven gear 720. The first gear position sensor 730 is mounted on and electrically connected to the first circuit board 320.

[0359] The first gear position sensor 730 can be any suitable one or more devices for generating a signal in response to rotation of the first driven gear 720. For example, the first gear position sensor 730 can be an inductive sensor, a magnetic sensor (e.g., a Hall effect sensor), a magnetoresistive (MR) sensor, or any other sensor known in the art with similar functionality.

[0360] In one embodiment, the first gear position sensor 730 may be a magnetic sensor (e.g., a Hall effect sensor). The first driven gear 720 may include a magnetic material, such as a permanent magnet. For example, a third magnet 725 may be coupled to the first driven gear 720. Figure 27 As shown, the first driven gear 720 may have a first groove 727 formed on the surface of the first driven gear 720 facing the first gear position sensor 730, such that a third magnet 725 can be arranged in the first groove 727 of the first driven gear 720. In another example, a magnetic gradient may be formed on the surface of the first driven gear 720, and this magnetic gradient is defined by a plurality of alternating north-south magnetic charging elements spaced circumferentially around the circumferential portion of the first driven gear 720. The magnetic field between the magnetic material of the first driven gear 720 and the first gear position sensor 730 may vary depending on the angular displacement of the first driven gear 720. The first gear position sensor 730 may sense or detect the magnetic field around the first driven gear 720 to confirm the angular position of the first driven gear 720.

[0361] In another embodiment, the first gear position sensor 730 may be an inductive sensor. This inductive sensor may be configured to operate based on the principle of electromagnetic induction to detect or measure nearby metallic objects. When current flows through the sensor, the sensor generates a magnetic field. Alternatively, current will flow through a circuit containing the sensor when the magnetic field changes. This effect can be used to detect metallic objects that interact with a magnetic field. For example, the inductive sensor according to embodiments of this disclosure may utilize various aspects described in U.S. Patent Application Serial No. 18 / 930,897, entitled “Inductive Sensor System Including Sensing Torque and Position Sensor Assembly,” the entire contents of which are incorporated herein by reference. In an embodiment of the inductive sensor, an excitation or transmitter coil assembly configured to generate an electromagnetic field on the first driven gear 720, and a receiver coil assembly configured to detect the electromagnetic field around the first driven gear 720, may be included in or mounted to the first circuit board 320. A metal material element, such as a target element, having a metal pattern or one or more conductive loops configured to influence the electromagnetic field generated by the excitation or transmitter coil assembly, may be included in or attached to the first driven gear 720 in place of the third magnet 725. The inductive sensor can reduce the size of the first power unit 300 and lower the manufacturing cost of the steer-by-wire system 10.

[0362] The second motor position sensor 490 can be any suitable one or more devices for generating a signal in response to rotation of the second motor shaft 411. For example, the second motor position sensor 490 can be an inductive sensor, a magnetic sensor (e.g., a Hall effect sensor), a magnetoresistive (MR) sensor, or any other sensor known in the art with similar functionality.

[0363] In one embodiment, the second motor position sensor 490 may be a magnetic sensor (e.g., a Hall effect sensor). The second motor shaft 411 may include a magnetic material, such as a permanent magnet. For example, a second magnet 815 may be mounted on the end of the second motor shaft 411. The second motor shaft 411 has a second shaft cover 811 covering the end of the second motor shaft 411, and the second magnet 815 may be disposed within the interior space of the second shaft cover 811 or connected to the second shaft cover 811. In another example, a magnetic gradient is formed on the surface of the second motor shaft 411, and this magnetic gradient is defined by a plurality of alternating north-south magnetic charging elements spaced circumferentially around the circumferential portion of the second motor shaft 411. The magnetic field between the magnetic material of the second motor shaft 411 and the second motor position sensor 490 may vary depending on the angular displacement of the second motor shaft 411. The second motor position sensor 490 may sense or detect the magnetic field around the second motor shaft 411 to confirm the angular position of the second motor 410.

[0364] In another embodiment, the second motor position sensor 490 may be an inductive sensor. An inductive sensor may be a sensor configured to operate based on the principle of electromagnetic induction to detect or measure nearby metallic objects. When current flows through the sensor, the sensor generates a magnetic field. Alternatively, when the magnetic field passing through a circuit containing the sensor changes, current will flow through the circuit. This effect can be used to detect metallic objects that interact with a magnetic field. For example, an inductive sensor according to embodiments of this disclosure may utilize various aspects described in U.S. Patent Application Serial No. 18 / 930,897, entitled "Inductive Sensor System Including Sensing Torque and Position Sensor Assembly," the entire contents of which are incorporated herein by reference. In an embodiment of the inductive sensor, an excitation or transmitter coil assembly configured to generate an electromagnetic field on the second motor shaft 411, and a receiver coil assembly configured to detect the electromagnetic field around the second motor shaft 411, may be included in or mounted to the second circuit board 420. A metal pattern or a metal material element, such as a target element, configured to influence the electromagnetic field generated by the excitation or transmitter coil assembly, may be included in or attached to the second motor shaft 411 in place of the second magnet 415. The inductive sensor can reduce the size of the second power unit 400 and lower the manufacturing cost of the steer-by-wire system 10.

[0365] The second motor shaft 411 is provided with a second drive gear 810. The second drive gear 810 can be attached to the second motor shaft 411 or formed directly on the outer surface of the second motor shaft 411 as a toothed portion. For example, Figure 26 and Figure 27 As shown, the second drive gear 810 can be directly formed on the outer surface of the second shaft cover 811 or attached to the outer surface of the second shaft cover 811. When the second motor shaft 411 rotates, the second drive gear 810 rotates together.

[0366] The second driven gear 820 is rotatably engaged with the second drive gear 810 of the second motor shaft 411. When the second motor shaft 411 rotates, the second drive gear 810 of the second motor shaft 411 drives the second driven gear 820 to rotate. The second driven gear 820 can be rotatably mounted to the inner surface of the second power unit housing 450.

[0367] The diameter of the second driven gear 820 or the number of teeth of the second driven gear 820 is greater than the diameter of the second drive gear 810 or the number of teeth of the second drive gear 810, so as to accurately confirm the angular position of the second driven gear 820 and easily make the transmission ratio associated with the first driven gear 710 and the second driven gear 810 different.

[0368] The second gear position sensor 830 responds to the rotation of the second driven gear 820. The second gear position sensor 830 can be arranged in a sensing relationship with the second driven gear 820. For example, the second gear position sensor 830 can be arranged near or around the second driven gear 820. The second gear position sensor 830 can detect or sense the angular position of the second driven gear 820 within a single revolution range (i.e., a range from zero to 360 degrees). The second gear position sensor 830 can generate an output signal representing the sensed angular position of the second driven gear 820. The second gear position sensor 830 is mounted to a second circuit board 420, and the second circuit board 420 is electrically connected.

[0369] The second gear position sensor 830 can be any suitable one or more devices for generating a signal in response to the rotation of the second driven gear 820. For example, the second gear position sensor 830 can be an inductive sensor, a magnetic sensor (e.g., a Hall effect sensor), a magnetoresistive (MR) sensor, or any other sensor known in the art with similar functionality.

[0370] In one embodiment, the second gear position sensor 830 may be a magnetic sensor (e.g., a Hall effect sensor). The second driven gear 820 may include a magnetic material, such as a permanent magnet. For example, a fourth magnet 825 may be coupled to the second driven gear 820. Figure 27As shown, the second driven gear 820 may have a second groove 827 formed on the surface of the second driven gear 820 facing the second gear position sensor 830, such that a fourth magnet 825 can be arranged in the second groove 827 of the second driven gear 820. In another example, a magnetic gradient may be formed on the surface of the second driven gear 820, and this magnetic gradient is defined by a plurality of alternating north-south magnetic charging elements spaced circumferentially around the circumferential portion of the second driven gear 820. The magnetic field between the magnetic material of the second driven gear 820 and the second gear position sensor 830 may vary depending on the angular displacement of the second driven gear 820. The second gear position sensor 830 may sense or detect the magnetic field around the second driven gear 820 to confirm the angular position of the second driven gear 820.

[0371] In another embodiment, the second gear position sensor 830 may be an inductive sensor. An inductive sensor may be a sensor configured to operate based on the principle of electromagnetic induction to detect or measure nearby metallic objects. When an electric current flows through the sensor, the sensor generates a magnetic field. Alternatively, when the magnetic field passing through a circuit containing the sensor changes, an electric current will flow through the circuit. This effect can be used to detect metallic objects that interact with a magnetic field. For example, an inductive sensor according to an embodiment of this disclosure may utilize various aspects described in U.S. Patent Application Serial No. 18 / 930,897, entitled “Inductive Sensor System Including Sensing Torque and Position Sensor Assembly,” the entire contents of which are incorporated herein by reference. In an embodiment of the inductive sensor, an excitation or transmitter coil assembly configured to generate an electromagnetic field on the second driven gear 820, and a receiver coil assembly configured to detect the electromagnetic field around the second driven gear 820, may be included in or mounted to the second circuit board 420. A metal pattern or a metal material element, such as a target element, configured to influence the electromagnetic field generated by the excitation or transmitter coil assembly, may be included in or attached to the second driven gear 820 in place of the fourth magnet 825. The inductive sensor can reduce the size of the second power unit 400 and lower the manufacturing cost of the steer-by-wire system 10.

[0372] A processor included in at least one of the controller 50, the first circuit 320, the second circuit 420, or the electronic control unit of the vehicle 1 can receive the angular positions of the first driven gear 720 and the second driven gear 820 from the first gear position sensor 730 and the second gear position sensor 830. The processor can receive the angular positions of the first driven gear 720 detected by the first gear position sensor 730 and the second driven gear 820 detected by the second gear position sensor 830 via inter-package communication or a controller area network (CAN). The processor can confirm the linear position of the steering rack 36 based on the angular positions of the first driven gear 720 detected by the first gear position sensor 730 and the second driven gear 820 detected by the second gear position sensor 830. For example, a vernier algorithm can be used to confirm the linear position of the steering rack 36 based on the angular positions of the first driven gear 720 and the second driven gear 820. The transmission ratios between the first driven gear 720 and the first drive gear 710, and between the second driven gear 820 and the second drive gear 810, are different from each other. For example, the transmission ratio between the first driven gear 720 and the first drive gear 710 may be 16:36, while the transmission ratio between the second driven gear 820 and the second drive gear 810 may be 16:37. However, if the transmission ratio between the first driven gear 720 and the first drive gear 710, and another transmission ratio between the second driven gear 820 and the second drive gear 810, are different from each other, then any transmission ratio can be used for the first drive gear 710, the first driven gear 720, the second drive gear 810, and the second driven gear 820, as applicable or necessary. A vernier algorithm can calculate a value by using two related variables with different phases or periods. Because the transmission ratios associated with the first driven gear 720 and the second driven gear 820 are different, the processor can confirm the linear position of the steering rack 36 by using the phase difference between the angular positions of the first driven gear 720 detected by the first gear position sensor 730 and the second driven gear 820 detected by the second gear position sensor 830, which have different periods. The position of the steering rack 36 can be determined using a vernier algorithm based on the different rotation periods of the first driven gear 720 and the second driven gear 820 due to the difference between one transmission ratio (the transmission ratio between the first driven gear 720 and the first drive gear 710) and another transmission ratio (the transmission ratio between the second driven gear 820 and the second drive gear 810), without the need for a learning algorithm, an electronic speed counter, or a linear position sensor for detecting the linear position of the steering rack 36.This is because the first power group 300 and the second power group 400 are synchronized with the movement of the steering rack 36 through a shared driven pulley 520. The driven pulley 520 is operably connected to the first drive belt 370 of the first power group 300 and the second drive belt 470 of the second power group 400. The first drive belt 370 and the second drive belt 470 are operably connected to the first motor shaft 311 and the second motor shaft 411, which respectively rotate the first driven gear 710 and the second driven gear 810.

[0373] Compared to an implementation that uses the first drive pulley 360, the second drive pulley 460, and the driven pulley 520 to adjust the rotation ratio associated with the first motor 310 and the second motor 410 to determine the linear position of the steering rack 36, the size of the first power group 300 and the second power group 400 can be further reduced or minimized by using different transmission ratios associated with the first driven gear 720 of the first power group 300 and the second driven gear 820 of the second power group 400.

[0374] One or more rack supports 550 may be configured to support the steering rack 36. The rack supports 550 may restrict rotation of the steering rack 36 to prevent rotation relative to a non-rotating structure (e.g., but not limited to, rack housing 560). For example, to prevent rotation of the steering rack 36, the rack supports 550 may include preloaded rolling elements or rotatable rack shoes, and the steering rack 36 may have a generally flat or slightly curved surface or a shape corresponding to the shape of the rack supports 550, allowing the steering rack 36 to slide but not rotate relative to the rack housing 560. A portion of the cross-section of the steering rack 36 may be generally D-shaped and have a flat or slightly curved surface, thereby being operably associated with the rack supports 550. Alternatively, the steering rack 36 may have grooves (or protrusions) that engage with protrusions (or recesses) of the rack supports 550 to restrict rotational movement of the steering rack 36.

[0375] The rack support 550 can limit the range of linear movement of the steering rack 36. The rack support 550 can provide a stop position to limit the travel of the steering rack 36 (e.g., the range of linear movement of the steering rack 36), and thus limit the linear movement of the steering rack 36, thereby preventing the steering rack 36 from exceeding the linear movement limit.

[0376] For example, one rack support 550 may be arranged on one side of the rack housing 560, while another rack support 550 may be arranged on the other side of the rack housing 560.

[0377] The first housing portion 380 has an internal space for accommodating the first drive pulley 360, the first drive belt 370, and a portion of the driven pulley 520 that rotates to the linear conversion mechanism 500. The second housing portion 480 has an internal space for accommodating the second drive pulley 460, the second drive belt 470, and another portion of the driven pulley 520 that rotates to the linear conversion mechanism 500. The first housing portion 380 and the second housing portion 480 can be formed as separate pieces and connected to each other.

[0378] The first housing portion 380 and the second housing portion 480 mate with each other at the central portion of the rack housing 560. The first motor shaft 311 of the first motor 310 of the first power unit 300 and the second motor shaft 411 of the second motor 410 of the second power unit 400 can be arranged coaxially with each other. The first drive belt 370 and the second drive belt 470 are arranged parallel to each other and connected to the same driven pulley 520 that rotates to the linear conversion mechanism 500.

[0379] These configurations of the first housing portion 370 and the second housing portion 380 can reduce the complexity of the components and make the assembly and production of the steer-by-wire system 10 easier.

[0380] Figure 30 This is a side view used to illustrate a motor system according to an embodiment of the present disclosure. Figure 31 This is a plan view illustrating a motor system according to an embodiment of the present disclosure. Figure 32 This is a plan view illustrating an inductive sensor according to an embodiment of the present disclosure. Figure 33 This is a cross-sectional view used to illustrate a motor system according to an embodiment of the present disclosure. Figure 34 This is an exploded view illustrating a motor system according to an embodiment of the present disclosure.

[0381] Motor system 1000 includes motor 1100, which has motor shaft 1150. For example, motor 1100 may be... Figure 1 The motor 120 is included in the steering feedback actuator assembly 2000 connected to the steering wheel 101. One end portion 1151 of the motor shaft 1150 may be directly or indirectly connected to the steering column or steering shaft 103. Alternatively, the motor 1100 may be... Figure 1 Motor 145 or 147, or it could be Figure 23 Motors 310 or 320, 145, 147, 310, and 320, are included in the road wheel actuator assembly 3000 connected to the road wheel 131. Therefore, the motor system 1000 according to embodiments of the present disclosure can be used for both the steering feedback actuator assembly 2000 and the road wheel actuator 3000.

[0382] The motor system 1000 may also include a stop 1160 for limiting the range of rotation of the motor shaft 1150. The stop 1160 provides a mechanical hard stop and sets physical limits on the rotation of the steering column or steering shaft 103, thereby ensuring that the steering wheel 101 does not rotate beyond a predetermined range to prevent excessive rotation that could confuse or disorient the driver, and to prevent software or sensor errors from causing infinite rotation.

[0383] The inductive sensing target 1210 and magnet 1220 are mounted to another end portion 1152 of the motor shaft 1150, which is positioned opposite to an end portion 1151 that can be directly or indirectly connected to the steering column or steering shaft 103.

[0384] The inductive sensing target 1210 may be included in or attached to the motor shaft 1150 or motor gear 1230 (i.e., mounted to the motor shaft 1150). The inductive sensing target 1210 may be an electrically conductive coupler. The inductive sensing target 1210 may be arranged near the inductive sensor 1410, for example, but not limited to, near one or more receiver coils 1430 and / or one or more excitation coils or transmitter coils 1420. The inductive sensing target 1210 may have a metallic pattern. For example, the inductive sensing target 1210 may have: a multi-lobed shape with multiple adjacent lobes in the circumferential direction, a closed conductive loop or multiple conductive loops, or a partially circular or polygonal shape, such as a semi-circular or semi-polygonal shape. The inductive sensing target 1210 may be configured to influence the electromagnetic field generated by one or more excitation coils or transmitter coils 1420.

[0385] The inductive sensor 1410 can be supported on the circuit board 1700. The inductive sensor 1410 can be arranged to sense a target 1210 mounted to the motor shaft 1150. For example, one or more receiver coils 1420 and / or one or more excitation coils or transmitter coils 1430 of the inductive sensor 1410 can be positioned adjacent to the target 1210 mounted to the motor shaft 1150.

[0386] like Figure 32As shown, the inductive sensor 1410 may include one or more receiver coils 1430 and / or one or more excitation coils or transmitter coils 1420. The receiver coils 1420 and / or one or more excitation coils or transmitter coils 1430 may be formed by conductive traces or electrical conduction paths located on the circuit board 1700, or formed in one of the multiple layers of the circuit board 1700. The transmitter coil 1430 generates an electromagnetic field on the inductively sensed target 1210 via a radio frequency signal generated by an oscillator. The receiver coil 1420 may be configured to generate a signal (e.g., voltage or current) representing the angular position of the motor shaft 1150 in response to the induction of an electromagnetic field generated by the transmitter coil 1420 and altered by the inductively sensed target 1210. For example, the receiver coil 1420 may include one or more sine coils 1421 and one or more cosine coils 1422.

[0387] Receiver coil 1420 is electrically connected to a first electronic control unit (ECU) 1510 to output a signal (e.g., voltage or current) representing the angular position of motor shaft 1150 to the first ECU 1510. The first ECU 1510 may include any suitable circuitry and electronic components, such as a microprocessor, processor, computer, and / or memory. The first ECU 1510 is configured to determine the position of motor shaft 1150 based on electromagnetic induction associated with the inductively sensed target 1210, using the signal output from receiver coil 1420 of inductive sensor 1410. The first ECU 1510 may be the electronic control unit of steering feedback actuator 2000.

[0388] A magnetic sensor 1310 can be supported on a circuit board 1700. The magnetic sensor 1310 can be arranged in a sensing relationship with a magnet 1220 mounted to a motor shaft 1150. The magnet 1220 of the motor shaft 1150 can be arranged near the magnetic sensor 1310. For example, the magnet 1220 mounted to the motor shaft 1150 can be a puck magnet or a magnetic gradient formed on the surface of the motor shaft 1150 and defined by alternating north-south magnetic charging elements spaced circumferentially around the circumference of the motor shaft 1150; and the magnetic sensor 1310 can be a Hall effect sensor. The magnetic field between the magnet 1220 of the motor shaft 1150 and the magnetic sensor 1310 can vary according to the angular displacement of the motor shaft 1150. The magnetic sensor 1310 can sense or detect the magnetic field around the motor shaft 1150 to determine the angular position of the motor shaft 1150.

[0389] like Figure 31As shown, in order to enable the motor system 1000 to have heterogeneous redundancy when using a magnetic sensor and an inductive sensor to sense the motor position, the magnetic sensor 1310 can be positioned on the axis 1153 of the motor shaft 1150, while the inductive sensor 1410 can be positioned off the axis 1153 of the motor shaft 1150.

[0390] However, the inductive sensor 1410 or the magnetic sensor 1310 cannot provide the absolute angular rotational position of the steering column or steering shaft 103 or the steering wheel 101.

[0391] In order to determine the absolute angular rotational position of the steering column or steering shaft 103 or steering wheel 101, the motor system 1000 according to the embodiments of the present disclosure may further include an auxiliary rotor or satellite rotor 1610 and auxiliary sensors 1320, 1330.

[0392] The auxiliary rotor or satellite rotor 1610 can be rotatably engaged with the motor shaft 1150. For example, the motor shaft 1150 includes a motor gear 1230, while the auxiliary rotor or satellite rotor 1610 includes an auxiliary gear or satellite gear 1630. The motor gear 1230 and the auxiliary gear or satellite gear 1630 can have meshing gear teeth. The number of teeth on the motor gear 1230 differs from the number of teeth on the auxiliary gear or satellite gear 1630, allowing the motor shaft 1150 and the auxiliary rotor or satellite rotor 1610 to rotate at different speeds, thereby enabling the use of a vernier algorithm to confirm the absolute angular position of the steering column or steering shaft 103 or steering wheel 101. The axis of rotation 1153 of the motor shaft 1150 is parallel to and spaced apart from the axis of rotation 1650 of the auxiliary rotor or satellite rotor 1610.

[0393] In a first exemplary embodiment, for the auxiliary rotor or satellite rotor 1610, a magnetic sensing mechanism can be used to detect the angular position of the auxiliary rotor or satellite rotor 1610, which is rotatably engaged with the motor shaft 1150. An auxiliary magnet 1620 can be included within or attached to the auxiliary rotor or satellite rotor 1610. The auxiliary magnet 1620 of the auxiliary rotor or satellite rotor 1610 can be a disk-shaped magnet or a magnetic gradient formed on the surface of the auxiliary rotor or satellite rotor 1610 and defined by a plurality of alternating north-south magnetic charging elements spaced circumferentially around the circumference of the auxiliary rotor or satellite rotor 1610. An auxiliary magnetic sensor 1320 can be supported on a circuit board 1700. The auxiliary magnetic sensor 1320 can be arranged in a sensing relationship with the auxiliary magnet 1620 of the auxiliary rotor or satellite rotor 1610. The auxiliary magnet 1620 of the auxiliary rotor or satellite rotor 1610 can be arranged near the auxiliary magnetic sensor 1320. For example, the auxiliary magnetic sensor 1320 can be a Hall effect sensor. The magnetic field between the auxiliary magnet 1620 of the auxiliary rotor or satellite rotor 1610 and the auxiliary magnetic sensor 1320 can vary according to the angular displacement of the auxiliary rotor or satellite rotor 1610. The auxiliary magnetic sensor 1320 can sense or detect the magnetic field around the auxiliary rotor or satellite rotor 1610 to confirm the angular position of the auxiliary rotor or satellite rotor 1610.

[0394] The auxiliary magnetic sensor 1320 is electrically connected to the second electronic control unit (ECU) 1520 of the steering feedback actuator assembly 2000 and the third electronic control unit (ECU) 1530 of the road wheel actuator assembly 3000 to output signals (e.g., voltage or current) representing the angular position of the auxiliary rotor or satellite rotor 1610 to the second ECU 1520 and the third ECU 1530. Each of the second ECU 1520 and the third ECU 1530 may include any suitable circuitry and electronic components, such as a microprocessor, processor, computer, and / or memory.

[0395] In a second exemplary embodiment, for the auxiliary rotor or satellite rotor 1610, a sensing mechanism of the inductive type can be used to detect the angular position of the auxiliary rotor or satellite rotor 1610, which is rotatably engaged with the motor shaft 1150.

[0396] The auxiliary inductive sensing target 1640 may be included in or attached to the auxiliary rotor or satellite rotor 1610. The auxiliary inductive sensing target 1640 may be an electrically conductive coupler. The auxiliary inductive sensing target 1640 may be arranged near the auxiliary inductive sensor 1330, for example, near one or more receiver coils 1830 and / or one or more excitation coils or transmitter coils 1820. The sensing target 1640 may have a metallic pattern. For example, the auxiliary inductive sensing target 1640 may have: a multi-convex shape with multiple adjacent convex angles in the circumferential direction, a closed conductive loop or multiple conductive loops, or a partially circular or polygonal shape, such as a semi-circular or semi-polygonal shape. The auxiliary inductive sensing target 1640 may be configured to influence the electromagnetic field generated by one or more excitation coils or transmitter coils 1830.

[0397] An auxiliary sensing sensor 1330 may be supported on a circuit board 1700. The auxiliary sensing sensor 1330 may be arranged in a sensing relationship with an auxiliary sensing target 1640, which is included in or attached to an auxiliary rotor or satellite rotor 1610. For example, one or more receiver coils 1830 and / or one or more excitation coils or transmitter coils 1820 of the auxiliary sensing sensor 1330 may be positioned adjacent to the auxiliary sensing target 1640, which is included in or attached to the auxiliary rotor or satellite rotor 1610.

[0398] The auxiliary sensing sensor 1330 may include one or more receiver coils 1830 and / or one or more excitation coils or transmitter coils 1830. One or more receiver coils 1830 and / or one or more excitation coils or transmitter coils 1820 may be formed by conductive traces or electrical conduction paths located on the circuit board 1700, or formed in one of multiple layers of the circuit board 1700. The transmitter coil 1820 generates an electromagnetic field on the auxiliary sensing target 1640 via a radio frequency signal generated by an oscillator. The receiver coil 1830 may be configured to generate a signal (e.g., voltage or current) representing the angular position of the auxiliary sensing target 1640 in response to the induction of the electromagnetic field generated by the transmitter coil 1820 and altered by the auxiliary sensing target 1640.

[0399] The auxiliary sensing sensor 1330 (e.g., the receiver coil 1830 of the auxiliary sensing sensor 1330) is electrically connected to the second ECU 1520 of the steering feedback actuator assembly 2000 and the third ECU 1530 of the road wheel actuator assembly 3000 to output signals (e.g., voltage or current) representing the angular position of the auxiliary rotor or satellite rotor 1610 to the second ECU 1520 and the third ECU 1530.

[0400] The second ECU 1520 of the steering feedback actuator assembly 2000 and the third ECU 1530 of the road wheel actuator assembly 3000 are configured to determine the absolute angular position of the steering column or steering shaft 103 or steering wheel 101 based on: a magnetic field associated with the magnet 1220 mounted to the motor shaft 1150 and sensed by the magnetic sensor 1310 (i.e., a signal indicating the angular position of the motor shaft 1150); and a signal output by the auxiliary magnetic sensor 1320 or the auxiliary inductive sensor 1330 (e.g., a signal indicating the angular position of the auxiliary rotor or satellite rotor 1610).

[0401] For example, based on the angular position of the motor shaft 1150 and the angular position of the auxiliary rotor or satellite rotor 1610, a vernier algorithm can be used to determine the absolute angular position of the steering column or steering shaft 103 or steering wheel 101. The vernier algorithm can calculate a value using two related variables with different phases or periods. Because the number of teeth on the motor gear 1230 of the motor shaft 1150 differs from the number of teeth on the auxiliary gear or satellite gear 1630 of the auxiliary rotor or satellite rotor 1610, the motor shaft 1150 and the auxiliary rotor or satellite rotor 1610 can rotate at different speeds. Therefore, the second ECU 1520 of the steering feedback actuator assembly 2000 and the third ECU 1530 of the wheel actuator assembly 3000 can confirm the absolute angular position of the steering column or steering shaft 103 or steering wheel 101 by the phase difference between the angular position of the motor shaft 1150 detected by the magnetic sensor 1310 and the angular position of the auxiliary rotor or satellite rotor 1610, which has a different period, detected by the auxiliary magnetic sensor 1320 or auxiliary inductive sensor 1330. The absolute angular position of the steering column or steering shaft 103 or steering wheel 101 can be determined by using a vernier algorithm based on the different rotation periods of the motor shaft 1150 and the auxiliary rotor or satellite rotor 1610.

[0402] Optionally, the motor system 1000 may further include a position sensor 1170 configured to detect the rotational position, angular displacement, rotational angle, or rotational state of the motor shaft 1150. The position sensor 1170 may be disposed within the motor housing 1110 and may be arranged in a sensing relationship with the motor shaft 1150 to generate one or more signals corresponding to the rotational position of the motor shaft 1150 during operation of the motor 1100. In some embodiments, the position sensor 1170 may include, but is not limited to, a Hall effect sensor, a magnetic encoder, an optical encoder, a resolver, or any other suitable position sensing element.

[0403] Connector 1180 can electrically connect position sensor 1170 to an external component not included within motor housing 1110. Connector 1180 can be configured to transmit signals output from position sensor 1170 to an external component, such as a controller, processor, or electronic control unit (ECU). In some embodiments, connector 1180 can be disposed on motor housing 1110 or disposed partially through motor housing 1110, and connector 1180 may include one or more terminals, pins, or conductive paths configured to connect to a wiring harness or cable.

[0404] Motor housing 1110 can accommodate motor 1100, motor shaft 1150, stopper 1160, inductive sensing target 1210, magnet 1220, magnetic sensor 1310, inductive sensor 1410, circuit board 1700, and auxiliary rotor or satellite rotor 1610. In one embodiment, auxiliary magnet 1620 and auxiliary magnetic sensor 1320 can be arranged in motor housing 1110. In another embodiment, auxiliary inductive sensing target 1640 and auxiliary inductive sensor 1330 can be included in motor housing 1110.

[0405] Motor shaft 1150 may include a magnet retainer 1910. Magnet retainer 1910 may have an internal space for retaining magnet 1220. Magnet 1220 may be positioned within the internal space of magnet retainer 1910 such that magnet 1220 generates magnetic flux flowing from magnet 1220 to magnetic sensor 1310. For example, magnet retainer 1910 may at least substantially surround magnet 1220. Magnet retainer 1910 may be made of, for example, but not limited to, non-magnetic materials, such as brass, aluminum, potting materials, plastics, synthetic resin materials, stainless steel, copper, etc. Magnet retainer 1910 includes a fixing structure or fixing device configured to secure magnet 1220 to motor shaft 1150. For example, the fixing structure or device of the magnet holder 1910 has an opening inserted into the distal end of the motor shaft 1150 and a wall that contacts the motor shaft 1150 and holds the magnet holder 1910 and the motor shaft 1150 together. In the magnet holder 1910, non-magnetic material may be disposed between the motor shaft 1150 and the magnet 1220. In another example, the non-magnetic material may be part of the magnet holder 1910. Alternatively, the magnet holder 1910 may have an air gap located between the motor shaft 1150 and the magnet 1220.

[0406] Apart from Figure 33 In addition to the structure of the magnet holder 1910 shown, the magnet holder can also be implemented as an adhesive made of a non-magnetic material. Any material capable of holding the magnet 1220 and the motor shaft 1150 together and capable of reducing magnetic flux leakage from the magnet 1220 to the motor shaft 1150 can be used for this adhesive.

[0407] The motor shaft 1150 may include, or be coupled to, a gear and / or a target holder 1920. The gear and / or target holder 1920 may be configured to secure at least one of a motor gear 1230 and / or an inductively sensed target 1210 to the motor shaft 1150 such that, during operation, the motor gear 1230 and / or the inductively sensed target 1210 rotate together with the motor shaft 1150. In one embodiment, the gear and / or target holder 1920 may securely couple the motor gear 1230 to the motor shaft 1150, and the inductively sensed target 1210 may be attached to, engaged with, or mounted on the motor gear 1230. In another embodiment, the gear and / or target holder 1920 can hold one of the motor gear 1230 and the inductive sensing target 1210 so that it is fixed to the motor shaft 1150, while the other of the motor gear 1230 and the inductive sensing target 1210 can be directly connected to the motor shaft 1150. For example, the motor gear 1230 can be directly connected to the motor shaft 1150, while the inductive sensing target 1210 is fixed to the motor shaft 1150 via the gear and / or target holder 1920, and vice versa. In yet another embodiment, the gear and / or target holder 1920 may have separate structures, portions, or connection features configured to connect the motor gear 1230 and the inductive sensing target 1210 to the motor shaft 1150, respectively. In this embodiment, the motor gear 1230 and the inductive sensing target 1210 can be mounted independently while maintaining rotational synchronization with the motor shaft 1150.

[0408] Alternatively, in some embodiments, one or both of the motor gear 1230 and / or the inductive sensing target 1210 can be directly coupled to the motor shaft 1150 without the gear and / or target holder 1920. This direct coupling can be achieved by press fitting, spline connection, keying connection, interference fit, adhesive bonding, integral molding, or any other suitable mechanical coupling technique.

[0409] While exemplary embodiments have been described in detail, it should be understood that various changes, substitutions, and variations may be made without departing from the spirit and scope of this application as defined by the appended claims.

[0410] Furthermore, the scope of this application is not intended to be limited to the specific embodiments of the processes, machines, articles of manufacture, and material compositions, apparatuses, methods, and steps described in the specification. As will be readily understood by those skilled in the art from this disclosure, existing or subsequently developed processes, machines, articles of manufacture, material compositions, apparatuses, methods, or steps that perform substantially the same function or achieve substantially the same results as the corresponding embodiments described herein can be utilized according to embodiments and alternative embodiments. Therefore, the appended claims are intended to include such processes, machines, articles of manufacture, material compositions, apparatuses, methods, or steps within the scope of the appended claims.

Claims

1. A motor system, the motor system comprising: A magnet and an inductive sensing target are mounted on a motor shaft; Circuit board; A magnetic sensor configured to sense a magnetic field associated with the magnet mounted to the motor shaft; as well as An inductive sensor configured to sense electromagnetic induction associated with the inductive sensing target mounted on the motor shaft; The magnetic sensor and the inductive sensor are mounted on the circuit board.

2. The motor system according to claim 1, wherein, The magnetic sensor and the inductive sensor are mounted on the surface of the circuit board facing the end of the motor shaft: the inductive sensing target and the magnet are mounted on this end.

3. The motor system according to claim 1, further comprising a magnet retainer that connects the magnet to the motor shaft.

4. The motor system according to claim 1, wherein, The magnet, which is mounted to the motor shaft, is arranged in the internal space of the magnet holder.

5. The motor system according to claim 1, wherein, The magnet holder is made of a non-magnetic material.

6. The motor system of claim 1, further comprising a controller configured to determine the position of the motor shaft based on at least one of: a magnetic field associated with the magnet mounted to the motor shaft; or electromagnetic induction associated with the inductive sensing target mounted to the motor shaft.

7. The motor system according to claim 1, wherein, The inductive sensor is positioned off-axis from the motor shaft, and the magnetic sensor is arranged on the motor shaft.

8. The motor system of claim 1, further comprising an auxiliary rotor rotatably engaged with the motor shaft.

9. The motor system according to claim 8, wherein, Each of the motor shaft and the auxiliary rotor includes a gear, the gear on the motor shaft engaging with the gear on the auxiliary rotor in a rotatable manner, and the number of teeth on the gear on the motor shaft differs from the number of teeth on the gear on the auxiliary rotor.

10. The motor system of claim 9, further comprising a gear retainer that connects the gear to the motor shaft.

11. The motor system according to claim 10, wherein, The inductive sensing target is connected to a gear on the motor shaft.

12. The motor system according to claim 8, wherein, The auxiliary rotor is equipped with another magnet, and the motor system also includes another magnetic sensor configured to sense the magnetic field associated with the other magnet mounted to the auxiliary rotor.

13. The motor system according to claim 8, wherein, The auxiliary rotor includes another inductive sensing target, and the motor system also includes another inductive sensor configured to sense electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor.

14. The motor system according to claim 1, wherein, The motor shaft is connected to the steering column, and the steering column is connected to the steering wheel.

15. The motor system according to claim 1, wherein, One end portion of the motor shaft is connected to the steering column, which is connected to the steering wheel, and the inductive sensing target and the magnet are mounted to the other end portion of the motor shaft.

16. The motor system according to claim 1, further comprising: An auxiliary rotor, which is rotatably engaged with the motor shaft, and which has another magnet; as well as Another magnetic sensor, configured to sense the magnetic field associated with the other magnet mounted to the auxiliary rotor, in, The motor shaft is connected to the steering column, the steering column is connected to the steering wheel, and The controller is configured to determine the position of the steering column or the steering wheel based on a magnetic field associated with the other magnet mounted to the auxiliary rotor and at least one of the following: a magnetic field associated with the magnet mounted to the motor shaft; or electromagnetic induction associated with the inductive sensing target mounted to the motor shaft.

17. The motor system according to claim 1, wherein the steering system further comprises: An auxiliary rotor, which is rotatably engaged with the motor shaft, and which includes another inductively sensing target; as well as Another inductive sensor is configured to sense electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor; in, The motor shaft is connected to the steering column, the steering column is connected to the steering wheel, and The controller is configured to determine the position of the steering column or the steering wheel based on electromagnetic induction associated with the other inductive sensing target included in the auxiliary rotor and at least one of the following: a magnetic field associated with the magnet mounted to the motor shaft; or electromagnetic induction associated with the inductive sensing target mounted to the motor shaft.

18. The motor system of claim 1, further comprising a stop configured to limit the rotatable range of the motor shaft.

19. The motor system according to claim 1, wherein, The inductive sensing target has a metallic pattern, and The inductive sensor includes a receiver and a transmitter. The receiver includes a sine coil and a cosine coil, and the transmitter includes at least one circular coil.

20. A steer-by-wire system, the steer-by-wire system comprising: A steering feedback actuator assembly, the steering feedback actuator assembly being connected to the steering wheel; as well as Road wheel actuator assembly, the road wheel actuator assembly being connected to the road wheel, The steering feedback actuator assembly includes a motor system, which includes: A motor having a motor shaft connected to a steering column, and the steering column connected to a steering wheel; Circuit board; A magnet and an inductive sensing target are mounted to the motor shaft; A magnetic sensor configured to sense a magnetic field associated with the magnet mounted to the motor shaft; An inductive sensor configured to sense electromagnetic induction associated with the inductive sensing target mounted on the motor shaft.

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