Redundant electro-hydraulic steering gear

Abstract

A redundant TAS sensor is installed on an input shaft, the input shaft is coaxially connected with an output shaft, the redundant TAS sensor is provided with a first sensing unit and a second sensing unit, the first sensing unit is connected with a first controller, the second sensing unit is connected with a second controller, and the first controller is connected with the first controller. The first controller is connected with and controls the first winding drive, the second controller is connected with and controls the second winding drive, and the first controller and the second controller are connected with each other. The first sensing unit transmits a detection signal to the first controller, the second sensing unit transmits a detection signal to the second controller, the first controller and the second controller drive a first winding and a second winding of the double-winding motor respectively, 50% of required assisting power is output respectively, and the first winding and the second winding are jointly used for achieving steering assisting power. When one of the control units fails, it is ensured that another control unit can work normally.

Description

Technical Field

[0001] This utility model relates to the field of steering equipment technology, specifically to a redundant electro-hydraulic steering gear. Background Technology

[0002] An electric power steering system is a power steering system that relies on an electric motor to provide auxiliary torque. It mainly consists of a torque sensor, a vehicle speed sensor, an electric motor, a reduction gear, and an electronic control unit. When the driver operates the steering wheel, the torque sensor detects the direction of rotation and the magnitude of the torque, transmitting an electrical signal to the electronic control unit. Based on the torque signal detected by the torque sensor, the direction of rotation, and the vehicle speed signal, the electronic control unit issues a command to the electric motor to output a corresponding magnitude and direction of steering assistance torque, thereby generating auxiliary power. The normal and stable operation of the steering system is crucial for driving safety. However, in existing electric power steering systems, if the motor fails during vehicle operation, the steering system cannot function properly, posing a significant safety hazard. Utility Model Content

[0003] To address the technical problem that existing electric power steering systems cannot function properly if the motor fails during vehicle operation, this invention proposes a redundant electro-hydraulic steering system. When one control unit fails, another control unit can still function normally, ensuring that the entire controller can guarantee basic steering control functions.

[0004] The technical solution adopted by this utility model is as follows: A redundant electro-hydraulic steering gear includes an input shaft, an output shaft, a first controller, a second controller, a redundant TAS sensor, and a dual-winding motor with a first winding and a second winding. The redundant TAS sensor is mounted on the input shaft, and the input shaft and the output shaft are coaxially connected. The redundant TAS sensor has a first sensing unit and a second sensing unit. The first sensing unit is connected to the first controller, and the second sensing unit is connected to the second controller. The first controller is connected to and controls the first winding drive, and the second controller is connected to and controls the second winding drive. The first controller and the second controller are interconnected.

[0005] Optionally, the first controller and the second controller are both microcontroller controllers, and the first controller and the second controller communicate with each other via an SPI bus.

[0006] Optionally, the first controller and the second controller are integrated on the end face of the dual-winding motor, and the first controller and the second controller are fixed to the port of the dual-winding motor housing by bolts.

[0007] Optionally, the outer peripheral wall of the output shaft near the input shaft is provided with a bearing, the outer peripheral wall of the bearing is provided with a bracket, the bracket is provided with a limiting rod that cooperates with the redundant TAS sensor, the side of the bracket opposite to the limiting rod extends axially to form a mounting part, the bracket is provided with a first through hole for the output shaft to pass through, and the mounting part is provided with a second through hole that is press-fitted with the outer ring of the bearing.

[0008] Optionally, the diameter of the second through hole is larger than the diameter of the first through hole.

[0009] Optionally, the inner peripheral wall of the second through hole is provided with a plurality of protrusions for interference fit with the outer ring of the bearing, and the plurality of protrusions are spaced apart along the inner peripheral wall of the second through hole.

[0010] Optionally, the end of the first through hole opposite to the second through hole protrudes from the bracket to form a boss, and the side of the bracket opposite to the limiting rod is provided with multiple reinforcing ribs, which extend to the mounting part.

[0011] Optionally, the first sensing unit is connected to the first controller via a wiring harness, the second sensing unit is connected to the second controller via a wiring harness, and the bracket is provided with a groove for fixing the wiring harness.

[0012] The beneficial effects of this invention are as follows: The redundant TAS sensor outputs angle and torque signals based on the rotation angle of the torque. The first sensing unit transmits the detection signal to the first controller, and the second sensing unit transmits the detection signal to the second controller. The first and second controllers respectively drive the first and second windings of the dual-winding motor, each outputting 50% of the required steering assist, working together to achieve steering assist. When one control unit fails, it ensures that another control unit can still function normally. It can handle different levels of faults in the redundancy backup, including peripheral circuit failure, motor winding failure, communication line failure, and MCU internal failure. As long as one set of redundant components is operational, the entire controller can guarantee basic steering control functions, meeting the higher safety requirements of autonomous driving. Furthermore, in this embodiment, the dual-winding motor integrates the first and second windings within a single motor housing. Compared to the traditional redundancy technology where the first motor with the first winding and the second motor with the second winding are separated, this significantly reduces the motor size and saves costs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the redundant electro-hydraulic steering system proposed in an embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of the redundant electro-hydraulic steering gear proposed in an embodiment of the present invention;

[0015] Figure 3This is a cross-sectional view of the redundant electro-hydraulic steering system proposed in an embodiment of this utility model;

[0016] Figure 4 This is a schematic diagram of the bracket for the redundant electro-hydraulic steering system proposed in an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the mounting portion of the bracket for the redundant electro-hydraulic steering system proposed in an embodiment of this utility model.

[0018] The labels in the attached figures are as follows: 1. Input shaft; 2. Output shaft; 3. First controller; 4. Second controller; 5. First winding; 6. Second winding; 7. First sensing unit; 8. Second sensing unit; 9. Redundant TAS sensor; 10. Dual-winding motor; 11. Bearing; 12. Bracket; 13. Limiting rod; 14. Mounting part; 15. Protrusion; 16. Boss; 17. Reinforcing rib; 18. Groove; 19. Wiring harness. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] like Figure 1As shown, this embodiment discloses a redundant electro-hydraulic steering gear, including an input shaft 1, an output shaft 2, a first controller 3, a second controller 4, a redundant TAS sensor 9, and a dual-winding motor 10 with a first winding 5 and a second winding 6. The redundant TAS sensor 9 is mounted on the input shaft 1, and the input shaft 1 is coaxially connected to the output shaft 2. The redundant TAS sensor 9 has a first sensing unit 7 and a second sensing unit 8. The first sensing unit 7 is connected to the first controller 3, and the second sensing unit 8 is connected to the second controller 4. The first controller 3 is connected to and controls the first winding 5 to drive, and the second controller 4 is connected to and controls the second winding 6 to drive. The first controller 3 and the second controller 4 are interconnected. The redundant TAS sensor 9 refers to a tunnel magnetoresistive (TMR) angle sensor, used to measure the position of a motor rotor or in other applications requiring precise angle measurement. In manual driving mode, when the driver turns the steering wheel, the steering torque is transmitted to the input shaft 1 through the vehicle's intermediate shaft. The input shaft 1 drives the torsion bar to twist. At this time, the redundant TAS sensor 9 outputs angle and torque signals based on the rotation angle of the torque. The first sensing unit 7 transmits the detection signal to the first controller 3, and the second sensing unit 8 transmits the detection signal to the second controller 4. The first controller 3 and the second controller 4 respectively drive the first winding 5 and the second winding 6 of the dual-winding motor 10, each outputting 50% of the required steering assist, working together to achieve steering assist. When one control unit fails, it ensures that another control unit can still function normally. It can handle different levels of faults in the redundancy backup, including peripheral circuit failures, motor winding failures, communication line failures, and MCU internal failures. As long as one set of redundant components is operational, the entire controller can guarantee basic steering control functions, meeting the higher safety requirements of autonomous driving. Furthermore, in this embodiment, the dual-winding motor 10 integrates the first winding 5 and the second winding 6 within a single motor housing. Compared to the traditional redundancy technology where the first motor with the first winding 5 and the second motor with the second winding 6 are set up separately, this significantly reduces the motor size and saves costs.

[0021] In this embodiment, the first controller 3 and the second controller 4 are both microcontroller controllers, and they communicate with each other via an SPI bus. The main controller microcontroller signal processing modules of the two units communicate with each other through the SPI bus and simultaneously control a dual-winding DC motor. The SPI (Serial Peripheral Interface) bus system is a synchronous serial port for communication between a microprocessor control unit (MCU) and peripheral devices. The first controller 3 and the second controller 4 are integrated on the end face of the dual-winding motor 10, and are fixed to the housing port of the dual-winding motor 10 by bolts. These bolts are hexagonal flange bolts.

[0022] like Figure 3-5 As shown, a bearing 11 is provided on the outer peripheral wall of the output shaft 2 near the input shaft 1. A bracket 12 is provided on the outer peripheral wall of the bearing 11. The bracket 12 has a limiting rod 13 that cooperates with the redundant TAS sensor 9. The side of the bracket 12 facing away from the limiting rod 13 extends axially to form a mounting part 14. The bracket 12 has a first through hole through which the output shaft 2 passes, and the mounting part 14 has a second through hole that presses into the outer ring of the bearing 11. The bracket 12 supports and fixes the redundant TAS sensor 9 through the limiting rod 13, and the mounting part 14 is press-fitted into the bearing 11 through the second through hole to fix the bracket 12 itself. Since the length of the input shaft 1 is limited, the bracket 12 is mounted on the output shaft 2 through the bearing 11, achieving a reasonable layout.

[0023] In this embodiment, the diameter of the second through hole is larger than the diameter of the first through hole. The step formed by the diameter difference between the first and second through holes abuts against the outer ring end face of the bearing 11, so that the mounting part 14 is securely connected to the bearing 11.

[0024] like Figure 4 and 5 As shown, the inner peripheral wall of the second through hole is provided with multiple protrusions 15 for interference fit with the outer ring of the bearing 11. The multiple protrusions 15 are spaced apart along the inner peripheral wall of the second through hole. The protrusions 15 reduce the mating area between the second mounting part 14 and the outer ring of the bearing 11, thereby reducing the impact of the dimensional accuracy of the second through hole on the pressing force of the bearing 11. The end of the first through hole opposite to the second through hole protrudes from the bracket 12 to form a boss 16. The side of the bracket 12 opposite to the limiting rod 13 is provided with multiple reinforcing ribs 17, which extend to the mounting part 14. The first sensing unit 7 is connected to the first controller 3 through a wiring harness 19, and the second sensing unit 8 is connected to the second controller 4 through a wiring harness 19. The bracket 12 is provided with a groove 18 for fixing the wiring harness 19. There can be one or two grooves 18. The wiring harness 19 of the first sensing unit 7 and the wiring harness 19 of the second sensing unit 8 can be bundled and placed in the groove 18 respectively. The groove 18 serves to guide and fix the wiring harness 19.

[0025] It is understood that the specific embodiments described above are merely for explaining the relevant utility model and not for limiting the utility model. It should also be noted that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions that do not contradict or conflict with each other. All equivalent structural transformations made based on the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly included within the protection scope of this utility model.

Claims

1. A redundant electro-hydraulic steering gear, characterized in that, The device includes an input shaft, an output shaft, a first controller, a second controller, a redundant TAS sensor, and a dual-winding motor with a first winding and a second winding. The redundant TAS sensor is mounted on the input shaft, which is coaxially connected to the output shaft. The redundant TAS sensor has a first sensing unit and a second sensing unit. The first sensing unit is connected to the first controller, and the second sensing unit is connected to the second controller. The first controller is connected to and controls the first winding drive, and the second controller is connected to and controls the second winding drive. The first controller and the second controller are interconnected.

2. The redundant electro-hydraulic steering gear according to claim 1, characterized in that, The first controller and the second controller are both microcontroller controllers, and the first controller and the second controller communicate with each other via SPI bus.

3. The redundant electro-hydraulic steering gear according to claim 1, characterized in that, The first controller and the second controller are integrated on the end face of the dual-winding motor, and the first controller and the second controller are fixed to the port of the dual-winding motor housing by bolts.

4. The redundant electro-hydraulic steering gear according to claim 1, characterized in that, The outer peripheral wall of the output shaft near the input shaft is provided with a bearing, and the outer peripheral wall of the bearing is provided with a bracket. The bracket is provided with a limiting rod that cooperates with the redundant TAS sensor. The side of the bracket opposite to the limiting rod extends axially to form a mounting part. The bracket is provided with a first through hole for the output shaft to pass through, and the mounting part is provided with a second through hole that is press-fitted with the outer ring of the bearing.

5. The redundant electro-hydraulic steering gear according to claim 4, characterized in that, The diameter of the second through hole is larger than the diameter of the first through hole.

6. The redundant electro-hydraulic steering gear according to claim 4, characterized in that, The inner peripheral wall of the second through hole is provided with a plurality of protrusions for interference fit with the outer ring of the bearing, and the plurality of protrusions are spaced apart along the inner peripheral wall of the second through hole.

7. The redundant electro-hydraulic steering gear according to claim 4, characterized in that, The end of the first through hole opposite to the second through hole protrudes from the bracket to form a boss. The side of the bracket opposite to the limiting rod is provided with multiple reinforcing ribs, which extend to the mounting part.

8. The redundant electro-hydraulic steering gear according to claim 4, characterized in that, The first sensing unit is connected to the first controller via a wiring harness, and the second sensing unit is connected to the second controller via a wiring harness. The bracket is provided with a groove for fixing the wiring harness.

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