Centralized control steer-by-wire system

Abstract

The utility model discloses a centralized control steer-by-wire system, and relates to the technical field of steer-by-wire, the centralized control steer-by-wire system comprises a two-in-one controller, a road sensing motor and a steering motor, and the road sensing motor and the steering motor both adopt three-phase AC switched reluctance motors; the two-in-one controller comprises a micro-control unit, and the micro-control unit is electrically connected with the road sensing motor through a road sensing circuit and controls the road sensing motor to operate; the micro-control unit is further electrically connected with the steering motor through a steering circuit and controls the steering motor to operate. The two-in-one controller further comprises a road sensing position sensor signal circuit and a steering position sensor signal circuit. The road sensing position sensor signal circuit and the steering position sensor signal circuit are both connected to the road sensing motor and the micro-control unit. The two-in-one controller is used for controlling the steering motor and the road feeling motor at the same time, and the road feeling motor and the steering motor both adopt the three-phase alternating-current switched reluctance motors, so that the vehicle space occupied by the motors is reduced, the installation difficulty is reduced, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of wire-controlled steering, and in particular to a centrally controlled wire-controlled steering system. Background Art

[0002] The current automotive power steering system is called a traditional mechanical power steering system, which consists of a steering wheel, a torque / angle sensor, a mechanical connector, a power steering component, and a steering wheel. The mechanical connector connects the steering wheel, the power steering component, and the wheel. The road feel is fed back to the steering wheel, and the driver turns the steering wheel according to the road feel, issuing a wheel steering command. After receiving the command, the power steering component provides power, thereby controlling the wheel steering.

[0003] The biggest difference between steer-by-wire and traditional mechanical power-assist systems is that there is no intermediate mechanical connection. The driver's road feel comes from the road sense motor, and the command is not sent through mechanical connections, but directly to the wheel controller through electrical signal lines to control the operation of the wheel steering motor, thereby achieving steering. In a steer-by-wire system, the road feel is obtained by the road sense motor controller controlling the operation of the road sense motor, and the front wheel steering motor is controlled by the front wheel steering controller; if the vehicle has rear wheel steering, the rear wheel steering motor is controlled by the rear wheel steering controller.

[0004] In the steer-by-wire system, the road sensing motor and the front wheel steering motor are each controlled by a motor controller. In this way, there will be two motor controllers, which are relatively dispersed in space, not only occupying valuable physical space in the vehicle, but also increasing the overall production cost. In addition, in the existing steer-by-wire system, the road sensing motor and the front wheel steering motor use a single winding method, which may cause serious faults such as internal motor short circuits. Once the motor is damaged, it will be very risky. Utility Model Content

[0005] The present application provides a centrally controlled steer-by-wire system to overcome at least one technical problem existing in the prior art.

[0006] The embodiment of the present application provides a centrally controlled wire-controlled steering system, comprising: a two-in-one controller, a road sensing motor and a steering motor, wherein both the road sensing motor and the steering motor are three-phase AC switched reluctance motors;

[0007] The two-in-one controller includes a microcontroller unit, a road sensing circuit and a steering circuit; the microcontroller unit is electrically connected to the road sensing motor through the road sensing circuit, and is used to control the operation of the road sensing motor; the microcontroller unit is also electrically connected to the steering motor through the steering circuit, and is used to control the operation of the steering motor;

[0008] The two-in-one controller further includes a road sense position sensor signal circuit and a steering position sensor signal circuit; the input end and the output end of the road sense position sensor signal circuit are respectively connected to the road sense motor and the micro control unit; the input end and the output end of the steering position sensor signal circuit are respectively connected to the steering motor and the micro control unit;

[0009] The road sensing circuit comprises a road sensing three-phase half-bridge circuit and a road sensing phase current sampling circuit; the input end and the output end of the road sensing three-phase half-bridge circuit are respectively connected to the micro control unit and the road sensing motor; the input end and the output end of the road sensing phase current sampling circuit are respectively connected to the road sensing motor and the micro control unit;

[0010] The steering circuit includes a steering three-phase half-bridge circuit and a steering phase current sampling circuit; the input end and the output end of the steering three-phase half-bridge circuit are respectively connected to the micro control unit and the steering motor; the input end and the output end of the steering phase current sampling circuit are respectively connected to the steering motor and the micro control unit.

[0011] Optionally, the road sensing circuit further includes a road sensing motor pre-driver chip; the steering circuit further includes a steering motor pre-driver chip;

[0012] The input end of the road sense motor pre-drive chip is respectively connected to the micro control unit and the road sense phase current sampling circuit; the output end of the road sense motor pre-drive chip is respectively connected to the micro control unit and the road sense three-phase half-bridge circuit;

[0013] The input end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering phase current sampling circuit; the output end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering three-phase half-bridge circuit.

[0014] Optionally, the road sensing motor is a dual-winding motor, including a first motor winding and a second motor winding, and the first motor winding and the second motor winding are located in the same motor housing.

[0015] Optionally, the micro control unit includes a road sensing micro controller;

[0016] The road sense microcontroller includes a first microcontroller and a second microcontroller; the first microcontroller is connected to the first motor winding of the road sense motor through the road sense circuit; the second microcontroller is connected to the second motor winding of the road sense motor through the road sense circuit.

[0017] Optionally, the path sensing circuit includes a first path sensing circuit and a second path sensing circuit;

[0018] The first road sensing circuit and the second road sensing circuit share one road sensing position sensor signal circuit.

[0019] Optionally, the first road sensing circuit and the second road sensing circuit are symmetrically designed, and both include a road sensing three-phase half-bridge circuit, a road sensing phase current sampling circuit and a road sensing motor pre-drive chip.

[0020] Optionally, the steering motor is a dual-winding motor, including a third motor winding and a fourth motor winding, and the third motor winding and the fourth motor winding are located in the same motor housing.

[0021] Optionally, the microcontroller includes a steering microcontroller;

[0022] The steering microcontroller includes a third microcontroller and a fourth microcontroller; the third microcontroller is connected to the third motor winding of the steering motor through the steering circuit; the fourth microcontroller is connected to the fourth motor winding of the steering motor through the steering circuit.

[0023] Optionally, the steering circuit includes a first steering circuit and a second steering circuit;

[0024] The first steering circuit and the second steering circuit share the steering position sensor signal circuit.

[0025] Optionally, the first steering circuit and the second steering circuit are symmetrically designed, and both include a steering three-phase half-bridge circuit, a steering phase current sampling circuit, and a steering motor pre-driver chip.

[0026] The innovative features of the embodiments of the present application include:

[0027] 1. In this embodiment, both the road sensing motor and the steering motor use three-phase AC switched reluctance motors. Since the three-phase AC switched reluctance motor is small in size and low in price, it is beneficial to reduce the space occupied by the motor in the vehicle and reduce the difficulty of installation. It is also beneficial to reduce costs, which is one of the innovative points of the embodiment of the present application.

[0028] 2. In this embodiment, a two-in-one controller is used to simultaneously control the steering motor and the road sensing motor, which reduces one controller and thus reduces the physical space occupied, making the structure more compact, the wiring centralized, and helping to reduce costs, which is one of the innovative points of the embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of a centrally controlled steer-by-wire system provided in an embodiment of the present application;

[0031] Figure 2 Another structural schematic diagram of a centrally controlled steer-by-wire system provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a control structure of a road sensing motor provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of another control structure of a road sensing motor provided in an embodiment of the present application;

[0034] Figure 5 A schematic diagram of a control structure of a steering motor provided in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of another control structure of a steering motor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0038] The embodiment of the present application discloses a centralized controlled steer-by-wire system, which is described in detail below.

[0039] Figure 1A schematic diagram of a centralized control wire steering system provided in an embodiment of the present application is shown in FIG. Figure 1 , the present application provides a centralized controlled wire-controlled steering system 100, comprising: a two-in-one controller 1, a road sensing motor and a steering motor, wherein the road sensing motor and the steering motor both adopt a three-phase AC switched reluctance motor;

[0040] The two-in-one controller 1 includes a microcontroller unit, a road sensing circuit 2 and a steering circuit 3; the microcontroller unit is electrically connected to the road sensing motor through the road sensing circuit 2 to control the operation of the road sensing motor; the microcontroller unit is also electrically connected to the steering motor through the steering circuit 3 to control the operation of the steering motor;

[0041] The two-in-one controller 1 further includes a road sensing position sensor signal circuit and a steering position sensor signal circuit; the input end and the output end of the road sensing position sensor signal circuit are respectively connected to the road sensing motor and the micro control unit; the input end and the output end of the steering position sensor signal circuit are respectively connected to the steering motor and the micro control unit;

[0042] The road sensing circuit 2 includes a road sensing three-phase half-bridge circuit and a road sensing phase current sampling circuit; the input end and the output end of the road sensing three-phase half-bridge circuit are respectively connected to the micro control unit and the road sensing motor; the input end and the output end of the road sensing phase current sampling circuit are respectively connected to the road sensing motor and the micro control unit;

[0043] The steering circuit 3 includes a steering three-phase half-bridge circuit and a steering phase current sampling circuit; the input and output ends of the steering three-phase half-bridge circuit are respectively connected to the micro control unit and the steering motor; the input and output ends of the steering phase current sampling circuit are respectively connected to the steering motor and the micro control unit.

[0044] Specifically, please refer to Figure 1 The centralized controlled wire-controlled steering system provided in the present application includes a two-in-one controller 1, a road sensing motor and a steering motor. Compared with a three-phase AC asynchronous motor, a three-phase AC switched reluctance motor is smaller in size and more suitable for the installation space requirements of a vehicle; and compared with a three-phase AC permanent magnet synchronous motor, a three-phase AC switched reluctance motor is lower in cost and similar in size. Therefore, in the present application, both the road sensing motor and the steering motor use a three-phase AC switched reluctance motor.

[0045] When the road sensing motor and the steering motor are controlled by a controller respectively, the overall production cost will increase on the one hand, and a large physical space will be occupied on the other hand. Therefore, the present application adopts a micro control unit, that is, the two-in-one controller 1 includes a micro control unit, and a two-in-one controller is used to control the steering motor and the road sensing motor at the same time, thereby reducing one controller, thereby reducing the occupied physical space, making the structure more compact, the wiring is centralized, and it is conducive to reducing costs.

[0046] The two-in-one controller 1 includes a road sense circuit 2 and a steering circuit 3, wherein the microcontroller unit is electrically connected to the road sense motor through the road sense circuit 2, and the microcontroller unit controls the operation of the road sense motor through a road sense control algorithm, and sends the obtained road sense feedback to the microcontroller unit. In addition, the microcontroller unit is also electrically connected to the steering motor through the steering circuit 3, and the microcontroller unit controls the operation of the steering motor through a steering control algorithm to achieve the purpose of steering.

[0047] The two-in-one controller 1 also includes a road sense position sensor signal circuit and a steering position sensor signal circuit. The input end of the road sense position sensor signal circuit is connected to the road sense motor, and the output end is connected to the micro control unit. The rotor position information of the road sense motor is collected by the road sense position sensor signal circuit, and after converting it into an electrical signal, it is sent to the micro control unit through the output end. The micro control unit calculates the rotor electrical angle of the road sense motor using the received motor rotor position signal.

[0048] The input end of the steering position sensor signal circuit is connected to the steering motor, and the output end is connected to the micro control unit. The steering position sensor signal circuit collects the rotor position information of the steering motor, converts it into an electrical signal, and sends it to the micro control unit through the output end. The micro control unit uses the received motor rotor position signal to calculate the rotor electrical angle of the steering motor.

[0049] The road sense circuit 2 includes a road sense three-phase half-bridge circuit and a road sense phase current sampling circuit. The input end of the road sense three-phase half-bridge circuit is connected to the micro control unit, and the output end is connected to the road sense motor; the input end of the road sense phase current sampling circuit is connected to the road sense motor, and the output end is connected to the micro control unit. The road sense phase current sampling circuit collects the U / V / W phase current of the road sense motor, and performs proportional calculation on the voltage signal corresponding to the collected U / V / W phase current, and then sends it to the micro control unit through the output end. After the micro control unit receives the signal sent by the road sense phase current sampling circuit, it uses its internal AD sampling / holding circuit to sample the received voltage signal, and shapes and amplifies the sampled signal to obtain a road sense voltage signal.

[0050] After the microcontroller obtains the rotor electrical angle and road sense voltage signal of the road sense motor, it runs the motor control algorithm to obtain the calculation result, and the internal PWM signal generator sends out 6 PWM signals. The 6 PWM signals are sent to the road sense three-phase half-bridge circuit, thereby controlling the motor operation through the road sense three-phase half-bridge circuit.

[0051] Similarly, the steering circuit 3 includes a steering three-phase half-bridge circuit and a steering phase current sampling circuit. The input end of the steering three-phase half-bridge circuit is connected to the micro-control unit, and the output end is connected to the steering motor; the input end of the steering phase current sampling circuit is connected to the steering motor, and the output end is connected to the micro-control unit. The steering phase current sampling circuit collects the U / V / W phase current of the steering motor, and performs proportional calculation on the voltage signal corresponding to the collected U / V / W phase current, and then sends it to the micro-control unit through the output end. After the micro-control unit receives the signal sent by the steering phase current sampling circuit, it uses its internal AD sampling / holding circuit to sample the received voltage signal, and shapes and amplifies the sampled signal to obtain a steering voltage signal.

[0052] After the microcontroller obtains the rotor electrical angle and steering voltage signal of the steering motor, it runs the motor control algorithm to obtain the calculation result in combination with the rotor electrical angle and steering voltage signal of the steering motor. The internal PWM signal generator sends out 6 PWM signals. The 6 PWM signals are sent to the steering three-phase half-bridge circuit, thereby controlling the motor operation through the steering three-phase half-bridge circuit.

[0053] Optionally, Figure 2 For another structural diagram of the centralized control wire steering system provided in the embodiment of the present application, please refer to Figure 2 The road sense circuit 2 also includes a road sense motor pre-driver chip; the steering circuit 3 also includes a steering motor pre-driver chip; the input end of the road sense motor pre-driver chip is respectively connected to the micro control unit and the road sense phase current sampling circuit; the output end of the road sense motor pre-driver chip is respectively connected to the micro control unit and the road sense three-phase half-bridge circuit; the input end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering phase current sampling circuit; the output end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering three-phase half-bridge circuit.

[0054] Specifically, please refer to Figure 2 In this embodiment, the road sense circuit 2 also includes a road sense motor pre-driver chip, and the steering circuit 3 also includes a steering motor pre-driver chip. An input end of the road sense motor pre-driver chip is connected to the road sense phase current sampling circuit, and an output end of the road sense motor pre-driver chip is connected to the micro-control unit. The road sense phase current sampling performs proportional calculations on the voltage signals corresponding to the collected U / V / W phase currents, and then sends them to an input end of the road sense motor pre-driver chip through the output end. The internal circuit of the road sense motor pre-driver chip performs differential and proportional amplification processing on the voltage signals corresponding to the phase currents sent by the road sense phase current sampling circuit, and then sends them to the micro-control unit through the output end. The micro-control unit uses its internal AD sampling / holding circuit to sample the voltage signals processed by the road sense motor pre-driver chip to obtain a road sense voltage signal.

[0055] The other input end of the road sense motor pre-drive chip is connected to the micro control unit, and the other output end is connected to the road sense three-phase half-bridge circuit. After the micro control unit obtains the rotor electrical angle of the road sense motor and the road sense voltage signal, it combines the rotor electrical angle of the road sense motor and the road sense voltage signal, runs the motor control algorithm to obtain the calculation result, and the internal PWM signal generator sends out 6 PWM signals. The 6 PWM signals are sent to the road sense motor pre-drive chip, which shapes and amplifies the PWM signals and sends them to the road sense three-phase half-bridge circuit through the output end, thereby controlling the motor operation through the road sense three-phase half-bridge circuit.

[0056] An input terminal of the steering motor pre-driver chip is connected to the steering phase current sampling circuit, and an output terminal of the steering motor pre-driver chip is connected to the micro-control unit. The steering phase current sampling performs proportional calculation on the voltage signal corresponding to the collected U / V / W phase current, and then sends it to an input terminal of the steering motor pre-driver chip through the output terminal. The internal circuit of the steering motor pre-driver chip performs differential and proportional amplification processing on the voltage signal corresponding to the phase current sent by the steering phase current sampling circuit, and then sends it to the micro-control unit through the output terminal. The micro-control unit uses its internal AD sampling / holding circuit to sample the voltage signal processed by the steering motor pre-driver chip to obtain a steering voltage signal.

[0057] The other input end of the steering motor pre-driver chip is connected to the microcontroller unit, and the other output end is connected to the steering three-phase half-bridge circuit. After the microcontroller unit obtains the rotor electrical angle and steering voltage signal of the steering motor, it runs the motor control algorithm to obtain the calculation result in combination with the rotor electrical angle and steering voltage signal of the steering motor. The internal PWM signal generator sends out 6 PWM signals. The 6 PWM signals are sent to the steering motor pre-driver chip. After the steering motor pre-driver chip shapes and amplifies the PWM signal, it is sent to the steering three-phase half-bridge circuit through the output end, thereby controlling the motor operation through the steering three-phase half-bridge circuit.

[0058] Optionally, Figure 3 For a control structure diagram of a road sensing motor provided in an embodiment of the present application, please refer to Figure 3 The road sense motor is a dual-winding motor, including a first motor winding and a second motor winding, and the first motor winding and the second motor winding are located in the same motor housing. Preferably, the microcontroller includes a road sense microcontroller; the road sense microcontroller includes a first microcontroller and a second microcontroller; the first microcontroller is connected to the first motor winding of the road sense motor through a road sense circuit 2; the second microcontroller is connected to the second motor winding of the road sense motor through a road sense circuit 2.

[0059] Specifically, please refer to Figure 3When the road sensing motor fails, it will affect the wire-controlled steering control device, making it unable to obtain accurate steering wheel angle signals. For this reason, the present embodiment performs redundant design for the road sensing motor. That is, a dual-winding road sensing motor is adopted, which is a first motor winding and a second motor winding. When one winding fails, the other winding can maintain normal operation. In addition, in the present embodiment, the two sets of motor windings are placed in the same motor housing. In this way, the motor structure can be made more compact, which is conducive to saving space in the vehicle, thereby reducing the difficulty of installation.

[0060] Similar to the road sense motor, when the controller fails, it will also affect the realization of the normal steering function. For this reason, this embodiment also performs redundant design on the road sense microcontroller. They are the first microcontroller and the second microcontroller. The first microcontroller is connected to the first motor winding of the road sense motor through the road sense circuit 2, and the second microcontroller is connected to the second motor winding of the road sense motor through the road sense circuit 2. When one of the microcontrollers fails, the wire control steering system can still work normally through the other microcontroller.

[0061] Optionally, Figure 4 For another control structure diagram of the road sensing motor provided in the embodiment of the present application, please refer to Figure 4 The road sensing circuit 2 includes a first road sensing circuit 21 and a second road sensing circuit 22; the first road sensing circuit 21 and the second road sensing circuit 22 share a road sensing position sensor signal circuit. The first road sensing circuit 21 and the second road sensing circuit 22 are symmetrically designed, and both include a road sensing three-phase half-bridge circuit, a road sensing phase current sampling circuit, and a road sensing motor pre-driver chip.

[0062] Specifically, please refer to Figure 4 In this embodiment, the road sensing circuit 2 also adopts a redundant design, which includes a first road sensing circuit 21 and a second road sensing circuit 22. The first road sensing circuit 21 and the second road sensing circuit 22 are symmetrically designed. For example, the first road sensing circuit 21 and the second road sensing circuit 22 both include a road sensing three-phase half-bridge circuit, a road sensing phase current sampling circuit, and a road sensing motor pre-driver chip. The two circuits with the same function are independent, thereby ensuring that the first road sensing circuit 21 and the second road sensing circuit 22 are independent. In this way, when one of the road sensing circuits 2 fails, the steer-by-wire system can still work normally through the other road sensing circuit 2.

[0063] When the road sense motor, road sense microcontroller and road sense circuit 2 are all designed with redundancy, refer to Figure 4, the first microcontroller is connected to the first motor winding through the first road sense circuit 2, and the second microcontroller is connected to the second motor winding through the second road sense circuit 2. During normal operation, the first microcontroller and the second microcontroller work simultaneously, respectively controlling the first motor winding and the second motor winding to provide road sense feedback to the driver. When a single point failure occurs in the system, such as a signal input failure of a microcontroller, a road sense circuit 2 failure, a motor winding failure, etc., the microcontroller, the road sense circuit 2, and the motor winding that have a fault can be cut off, and the road sense feedback can be provided to the driver through another control path.

[0064] In addition, in this embodiment, the first road sensing circuit 21 and the second road sensing circuit 22 share a road sensing position sensor signal circuit. In this way, under the premise of being able to obtain the motor rotor position, the circuit components are reduced, which can not only reduce the space occupied by the vehicle, but also reduce the cost.

[0065] Optionally, Figure 5 For a control structure diagram of the steering motor provided in the embodiment of the present application, please refer to Figure 5 The steering motor is a dual-winding motor, including a third motor winding and a fourth motor winding, and the third motor winding and the fourth motor winding are located in the same motor housing. Preferably, the microcontroller includes a steering microcontroller; the steering microcontroller includes a third microcontroller and a fourth microcontroller; the third microcontroller is connected to the third motor winding of the steering motor through the steering circuit 3; the fourth microcontroller is connected to the fourth motor winding of the steering motor through the steering circuit 3.

[0066] Specifically, please refer to Figure 5 In order to prevent the steering motor failure from affecting normal operation, the present embodiment performs a redundant design for the steering motor. That is, a dual-winding steering motor is used, which includes the third motor winding and the fourth motor winding. When one winding fails, the other winding can maintain normal operation. In addition, in the present embodiment, the two sets of motor windings are placed in the same motor housing, so that the motor structure can be made more compact, which is conducive to saving space in the vehicle, thereby reducing the difficulty of installation.

[0067] Similar to the steering motor, when the controller fails, it will also affect the realization of the normal steering function. For this reason, the steering microcontroller in this embodiment is also redundantly designed. They are the third microcontroller and the fourth microcontroller. The third microcontroller is connected to the third motor winding of the steering motor through the steering circuit 3, and the fourth microcontroller is connected to the fourth motor winding of the steering motor through the steering circuit 3. When one of the microcontrollers fails, the wire control steering system can still work normally through the other microcontroller.

[0068] Optionally, Figure 6For another control structure diagram of the steering motor provided in the embodiment of the present application, please refer to Figure 6 The steering circuit 3 includes a first steering circuit 31 and a second steering circuit 32; the first steering circuit 31 and the second steering circuit 32 share a steering position sensor signal circuit. The first steering circuit 31 and the second steering circuit 32 are symmetrically designed, and both include a steering three-phase half-bridge circuit, a steering phase current sampling circuit, and a steering motor pre-driver chip.

[0069] Specifically, please refer to Figure 6 In this embodiment, the steering circuit 3 also adopts a redundant design, which is respectively the first steering circuit 3 and the second steering circuit 3. The first steering circuit 31 and the second steering circuit 32 are symmetrically designed. For example, the first steering circuit 31 and the second steering circuit 32 both include a steering three-phase half-bridge circuit, a steering phase current sampling circuit and a steering motor pre-driver chip. The two circuits with the same function are independent, thereby ensuring that the first steering circuit 31 and the second steering circuit 32 are independent. In this way, when one of the steering circuits 3 fails, the wire control steering system can still work normally through the other steering circuit 3.

[0070] When the steering motor, steering microcontroller and steering circuit 3 are all designed with redundancy, refer to Figure 6 , the third microcontroller is connected to the third motor winding through the first steering circuit 31, and the fourth microcontroller is connected to the fourth motor winding through the second steering circuit 32. During normal operation, the third microcontroller and the fourth microcontroller work simultaneously, respectively controlling the third motor winding and the fourth motor winding to provide steering feedback to the driver. When a single point failure occurs in the system, such as a signal input failure of a microcontroller, a steering circuit 3 failure, a motor winding failure, etc., the microcontroller, the steering circuit 3, and the motor winding that have a fault can be cut off, and the steering feedback can be provided to the driver through another control path.

[0071] In addition, in this embodiment, the first steering circuit 31 and the second steering circuit 32 share a steering position sensor signal circuit. In this way, under the premise of being able to obtain the motor rotor position, the circuit components are reduced, which can not only reduce the space occupied by the vehicle, but also reduce the cost.

[0072] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0073] Those skilled in the art can understand that the modules in the system in the embodiment can be distributed in the system of the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more systems different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A centralized controlled wire-controlled steering system, comprising a two-in-one controller, a road sensing motor and a steering motor, characterized in that: The road sensing motor and the steering motor both adopt three-phase AC switched reluctance motors; The two-in-one controller includes a microcontroller unit, a road sensing circuit and a steering circuit; the microcontroller unit is electrically connected to the road sensing motor through the road sensing circuit, and is used to control the operation of the road sensing motor; the microcontroller unit is also electrically connected to the steering motor through the steering circuit, and is used to control the operation of the steering motor; The two-in-one controller further includes a road sense position sensor signal circuit and a steering position sensor signal circuit; the input end and the output end of the road sense position sensor signal circuit are respectively connected to the road sense motor and the micro control unit; the input end and the output end of the steering position sensor signal circuit are respectively connected to the steering motor and the micro control unit; The road sensing circuit comprises a road sensing three-phase half-bridge circuit and a road sensing phase current sampling circuit; the input end and the output end of the road sensing three-phase half-bridge circuit are respectively connected to the micro control unit and the road sensing motor; the input end and the output end of the road sensing phase current sampling circuit are respectively connected to the road sensing motor and the micro control unit; The steering circuit includes a steering three-phase half-bridge circuit and a steering phase current sampling circuit; the input end and the output end of the steering three-phase half-bridge circuit are respectively connected to the micro control unit and the steering motor; the input end and the output end of the steering phase current sampling circuit are respectively connected to the steering motor and the micro control unit.

2. The centralized controlled steer-by-wire system according to claim 1, characterized in that: The road sensing circuit also includes a road sensing motor pre-driver chip; the steering circuit also includes a steering motor pre-driver chip; The input end of the road sensing motor pre-drive chip is respectively connected to the micro control unit and the road sensing phase current sampling circuit; The output end of the road sensing motor pre-drive chip is respectively connected to the micro control unit and the road sensing three-phase half-bridge circuit; The input end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering phase current sampling circuit; the output end of the steering motor pre-driver chip is respectively connected to the micro control unit and the steering three-phase half-bridge circuit.

3. The centralized controlled steer-by-wire system according to claim 2, characterized in that: The road sensing motor is a dual-winding motor, including a first motor winding and a second motor winding, wherein the first motor winding and the second motor winding are located in the same motor housing.

4. The centralized controlled steer-by-wire system according to claim 3, characterized in that: The micro control unit includes a road sensing micro controller; The road sense microcontroller comprises a first microcontroller and a second microcontroller; the first microcontroller is connected to the first motor winding of the road sense motor through the road sense circuit; The second microcontroller is connected to the second motor winding of the road sensing motor through the road sensing circuit.

5. The centralized controlled steer-by-wire system according to claim 4, characterized in that: The path sensing circuit includes a first path sensing circuit and a second path sensing circuit; The first road sensing circuit and the second road sensing circuit share one road sensing position sensor signal circuit.

6. The centralized controlled steer-by-wire system according to claim 5, characterized in that: The first road sensing circuit and the second road sensing circuit are symmetrically designed, and both include a road sensing three-phase half-bridge circuit, a road sensing phase current sampling circuit, and a road sensing motor pre-drive chip.

7. The centralized controlled steer-by-wire system according to claim 2, characterized in that: The steering motor is a dual-winding motor, including a third motor winding and a fourth motor winding, and the third motor winding and the fourth motor winding are located in the same motor housing.

8. The centralized controlled steer-by-wire system according to claim 7, characterized in that: The microcontrol unit includes a steering microcontroller; The steering microcontroller includes a third microcontroller and a fourth microcontroller; the third microcontroller is connected to the third motor winding of the steering motor through the steering circuit; the fourth microcontroller is connected to the fourth motor winding of the steering motor through the steering circuit.

9. The centralized controlled steer-by-wire system according to claim 8, characterized in that: The steering circuit includes a first steering circuit and a second steering circuit; The first steering circuit and the second steering circuit share the steering position sensor signal circuit.

10. The centralized controlled steer-by-wire system according to claim 9, characterized in that: The first steering circuit and the second steering circuit are symmetrically designed, and both include a steering three-phase half-bridge circuit, a steering phase current sampling circuit, and a steering motor pre-driver chip.

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