阅读说明：本技术 一种基于六相电机的转向系统控制电路及控制方法 (Steering system control circuit and control method based on six-phase motor ) 是由 李丰军 周剑光 刘瑾 王君 高华 于 2021-08-06 设计创作，主要内容包括：本发明涉及汽车技术领域,具体是一种基于六相电机的转向系统控制电路及控制方法,基于六相电机的转向系统控制电路包括控制电路、六相电机和功率电路；功率电路包括六个支路,六个支路并联连接；六相电机的每相绕组均与一个支路连接；控制电路与功率电路电连接,控制电路能够在不大于三个所述支路发生故障时,切断六相电机与处于故障状态下的支路之间的连接；本发明在不大于三个的所述支路发生故障时,主动切断六相电机与处于故障状态下的支路之间的连接；非故障的支路继续工作,使得转向系统控制电路具有更高的可靠性；并且车辆也能输出足够的力矩,保证转向系统的正常运行,更满足了高等级自动驾驶的需求,提升驾驶员的驾驶体验。(The invention relates to the technical field of automobiles, in particular to a steering system control circuit and a control method based on a six-phase motor, wherein the steering system control circuit based on the six-phase motor comprises a control circuit, a six-phase motor and a power circuit; the power circuit comprises six branches which are connected in parallel; each phase winding of the six-phase motor is connected with one branch circuit; the control circuit is electrically connected with the power circuit and can cut off the connection between the six-phase motor and the branch circuit in the fault state when the three branch circuits are not more than in fault; when no more than three branches have faults, the connection between the six-phase motor and the branch in the fault state is actively cut off; the non-fault branch circuit continues to work, so that the steering system control circuit has higher reliability; and the vehicle also can output sufficient moment, guarantees the normal operating of a steering system, more satisfies the demand of high-grade automatic driving, and promotes the driving experience of the driver.)

1. A steering system control circuit based on a six-phase motor is characterized by comprising a control circuit (1), the six-phase motor (2) and a power circuit (3) for outputting a specified current to the six-phase motor (2);

the power circuit (3) comprises six branches (31), the six branches (31) being connected in parallel; each phase winding of the six-phase motor (2) is connected with one branch circuit (31);

the control circuit (1) is electrically connected with the power circuit (3), and the control circuit (1) can cut off the connection between the six-phase motor (2) and the branch circuit (31) in a fault state when the three branch circuits (31) are not more than in fault state, so that the steering system can normally run.

2. A six-phase motor based steering system control circuit according to claim 1, characterized in that each of said branches (31) comprises two field effect transistors (311) connected in series;

the field effect transistors (311) on the six branches (31) are all electrically connected with the control circuit (1) so that the control circuit (1) can acquire the fault state of each branch (31).

3. A six-phase motor based steering system control circuit according to claim 2, characterized in that the power circuit (3) comprises a power supply (32) for powering the control circuit (1) and the power circuit (3);

six branch circuits (31) after being connected in parallel with power supply (32) series connection, just power supply (32) still is connected with control circuit (1) electricity.

4. A six-phase motor based steering system control circuit according to claim 3, characterized in that the power circuit (3) further comprises a safety switch (33) for disconnecting the six-phase motor (2) from the branch (31) in a fault state;

both ends of one safety switch (33) are respectively connected with one branch circuit (31) and one winding of the six-phase motor (2).

5. A six-phase motor based steering system control circuit according to claim 4, characterized in that the number of safety switches (33), the number of branches (31) and the number of windings of the six-phase motor (2) are equal;

each branch (31) is connected with a winding of the six-phase motor (2) in a switching mode through one safety switch (33).

6. A steering system control method based on a six-phase motor, characterized in that the method is implemented based on the steering system control circuit based on a six-phase motor according to any one of claims 1 to 5, and the method comprises:

acquiring the working state of each branch (31) in the power circuit (3);

obtaining the fault number of the branches (31) in the power circuit (3) according to the working state of each branch (31) in the power circuit (3);

judging whether the power circuit (3) meets a preset condition or not according to the fault number of branches (31) in the power circuit (3);

and when the power circuit (3) meets a preset condition, the connection between the six-phase motor (2) and the branch (31) in the fault state is cut off, and the steering system is controlled to normally operate.

7. The six-phase motor-based steering system control method according to claim 6, characterized in that the preset condition is that the number of faults of a branch (31) in the power circuit (3) is not more than three;

the step of judging whether the power circuit (3) meets the preset conditions or not according to the fault number of the branches (31) in the power circuit (3) comprises the following steps:

when the number of faults of the branches (31) in the power circuit (3) is not more than three, judging that the power circuit (3) meets the preset condition;

and when the number of faults of the branch circuits (31) in the power circuit (3) is more than three, judging that the power circuit (3) does not meet the preset condition.

8. The six-phase motor-based steering system control method according to claim 7, wherein after the judging whether the power circuit (3) meets the preset condition according to the fault number of the branch (31) in the power circuit (3), the method further comprises:

and when the power circuit (3) does not meet the preset condition, controlling the steering system to stop running.

9. The six-phase motor-based steering system control method according to claim 6, wherein the obtaining the operating state of each branch (31) in the power circuit (3) comprises:

after the vehicle is started, the control circuit (1) acquires the state of the field effect transistor (311) on each branch circuit (31) in real time;

when at least one field effect transistor (311) on the branch (31) is in fault, determining that the current working state of the branch (31) is in a fault state;

when the field effect transistors (311) on the branch circuits (31) are normal, judging that the working state of the current branch circuit (31) is a normal state;

and counting the working state of each branch (31) in the power circuit (3).

10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a six-phase electric machine based steering system control method according to any one of claims 6-9.

Technical Field

The invention relates to the technical field of automobiles, in particular to a steering system control circuit and a control method based on a six-phase motor.

Background

Along with more and more attention to automobile safety, in an automobile electronic system, in order to improve the stability and reliability of an electronic control system and meet the requirements of an intelligent driving market, a vehicle-mounted electronic system must have high reliability, and therefore the electronic and electric control system is required to have a redundancy function.

The existing electric power steering ECU controller applied to the road vehicle usually adopts a dual-redundancy backup scheme, when one path of controller fails, the other path of controller can only ensure the basic operation of a steering system, the output is only half or a little more than the maximum requirement, and the requirements of various working conditions are difficult to completely meet. And due to cost pressure, the technical scheme of ensuring that the single path can output the maximum torque is difficult to adopt.

Based on the defects in the prior art, a steering system control circuit and a control method based on a six-phase motor are needed to be researched to solve the problems.

Disclosure of Invention

In order to solve the technical problems, the invention provides a steering system control circuit and a control method based on a six-phase motor, wherein the control circuit, the six-phase motor and a power circuit are arranged, and when no more than three branches have faults, the connection between the six-phase motor and the branch in the fault state can be actively cut off; meanwhile, the non-fault branch still continues to work, and the function control of the steering system control circuit based on the six-phase motor can still be realized, so that the steering system control circuit based on the six-phase motor has higher reliability; and also ensures that the vehicle can output enough torque under the condition that one branch circuit has a fault, thereby ensuring the normal operation of a vehicle steering system, meeting the requirements of high-grade automatic driving and improving the driving experience of a driver.

The invention discloses a steering system control circuit based on a six-phase motor, which comprises a control circuit, the six-phase motor and a power circuit, wherein the power circuit is used for outputting specified current to the six-phase motor;

the power circuit comprises six branches which are connected in parallel; each phase winding of the six-phase motor is connected with one branch circuit;

the control circuit is electrically connected with the power circuit and can cut off the connection between the six-phase motor and the branch in a fault state when no more than three branches have faults so as to ensure the normal operation of the steering system.

Further, each of the branches includes two field effect transistors connected in series;

the field effect transistors on the six branches are all electrically connected with the control circuit, so that the control circuit can acquire the fault state of each branch.

Further, the power circuit comprises a power supply for supplying power to the control circuit and the power circuit;

six the branch road parallel connection back with the power series connection, just the power still is connected with control circuit electricity.

Further, the power circuit further comprises a safety switch for cutting off the connection between the six-phase motor and the branch in the fault state;

and two ends of one safety switch are respectively connected with one branch circuit and one winding of the six-phase motor.

Further, the number of the safety switches, the number of the branches and the number of the windings of the six-phase motor are equal;

each branch circuit is connected with one winding of the six-phase motor in a switching mode through one safety switch.

In another aspect of the present invention, a steering system control method based on a six-phase motor is provided, where the method is implemented based on the above-mentioned steering system control circuit based on a six-phase motor, and the method includes:

acquiring the working state of each branch in the power circuit;

obtaining the fault number of the branch circuits in the power circuit according to the working state of each branch circuit in the power circuit;

judging whether the power circuit meets a preset condition or not according to the fault number of branches in the power circuit;

and when the power circuit meets the preset condition, the connection between the six-phase motor and the branch in the fault state is cut off, and the steering system is controlled to normally operate.

Further, the preset condition is that the number of faults of branches in the power circuit is not more than three;

the judging whether the power circuit meets the preset condition according to the fault number of the branches in the power circuit comprises the following steps:

when the number of the faults of the branches in the power circuit is not more than three, judging that the power circuit meets the preset condition;

and when the number of the faults of the branches in the power circuit is more than three, judging that the power circuit does not meet the preset condition.

Further, after the determining whether the power circuit meets the preset condition according to the number of the faults of the branches in the power circuit, the method further includes:

and when the power circuit does not meet the preset condition, controlling the steering system to stop running.

Further, the obtaining the operating state of each branch in the power circuit includes:

after the vehicle is started, the control circuit acquires the state of the field effect transistor on each branch in real time;

when at least one field effect transistor on the branch circuit is in fault, judging that the working state of the current branch circuit is in a fault state;

when the field effect transistors on the branches are normal, judging that the working state of the current branch is a normal state;

and counting the working state of each branch in the power circuit.

Yet another aspect of the present invention also protects a computer readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a six-phase motor based steering system control method as described above.

The embodiment of the invention has the following beneficial effects:

according to the invention, the control circuit, the six-phase motor and the power circuit are arranged, and when no more than three branches have faults, the connection between the six-phase motor and the branch in the fault state can be actively cut off; meanwhile, the non-fault branch still continues to work, and the function control of the steering system control circuit based on the six-phase motor can still be realized, so that the steering system control circuit based on the six-phase motor has higher reliability; and also ensures that the vehicle can output enough torque under the condition that one branch circuit has a fault, thereby ensuring the normal operation of a vehicle steering system, meeting the requirements of high-grade automatic driving and improving the driving experience of a driver.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.

Fig. 1 is a structural diagram of a steering system control circuit based on a six-phase motor according to the embodiment;

fig. 2 is a flowchart of a steering system control method based on a six-phase motor according to the present embodiment.

Wherein the reference numerals in the figures correspond to:

1-a control circuit; 2-a six-phase motor; 3-a power circuit; 31-branch; 32-a power supply; 33-a safety switch; 311-field effect transistor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The prior art has the following defects: the existing electric power steering ECU controller applied to the road vehicle usually adopts a dual-redundancy backup scheme, when one path of controller fails, the other path of controller can only ensure the basic operation of a steering system, the output is only half or a little more than the maximum requirement, and the requirements of various working conditions are difficult to completely meet. And due to cost pressure, the technical scheme of ensuring that the single path can output the maximum torque is difficult to adopt.

Aiming at the defects of the prior art, the six-phase motor power supply circuit is provided with the control circuit, the six-phase motor and the power circuit, and when no more than three branches have faults, the control circuit can actively cut off the connection between the six-phase motor and the branch in the fault state; meanwhile, the non-fault branch still continues to work, and the function control of the steering system control circuit based on the six-phase motor can still be realized, so that the steering system control circuit based on the six-phase motor has higher reliability; and also ensures that the vehicle can output enough torque under the condition that one branch circuit has a fault, thereby ensuring the normal operation of a vehicle steering system, meeting the requirements of high-grade automatic driving and improving the driving experience of a driver.

Example 1

Referring to fig. 1-2, the present embodiment provides a steering system control circuit based on a six-phase motor, including a control circuit 1, a six-phase motor 2, and a power circuit 3 for outputting a specified current to the six-phase motor 2;

the power circuit 3 comprises six branches 31, the six branches 31 being connected in parallel; each phase winding of the six-phase motor 2 is connected with one branch 31;

the control circuit 1 is electrically connected with the power circuit 3, and when no more than three branches 31 have faults, the control circuit 1 can cut off the connection between the six-phase motor 2 and the branch 31 in the fault state, so that the steering system can normally operate.

It should be noted that: in the embodiment, the control circuit 1, the six-phase motor 2 and the power circuit 3 are arranged, and when no more than three branches 31 have faults, the control circuit 1 can actively cut off the connection between the six-phase motor 2 and the branch 31 in the fault state; meanwhile, the non-fault branch 31 still continues to work, and the function control of the steering system control circuit based on the six-phase motor can still be realized, so that the steering system control circuit based on the six-phase motor has higher reliability; and also ensures that the vehicle can output enough torque under the condition that one branch 31 has a fault, thereby ensuring the normal operation of a vehicle steering system, meeting the requirements of high-grade automatic driving and improving the driving experience of a driver.

It should also be noted that: in the embodiment, a multiphase SVPWM (space voltage pulse width vector pulse width modulation) control strategy is used, and the minimum of the SVPWM control strategy is three phases; that is, in this embodiment, when one branch 31, two branches 31, or three branches 31 fails, the multi-phase SVPWM control strategy may still control the six-phase motor 2 to operate; however, when four branches 31, five branches 31, or six branches 31 have a fault, the number of phases in which the branches 31 can operate is less than three, and the SVPWM control strategy cannot control the six-phase motor 2 to operate.

It is more to be noted that: the control circuit 1 is further configured to acquire a state signal of the power circuit 3, diagnose a fault of the branch 31, interact with an upper computer, and drive the power circuit 3 to output a given current, so that the six-phase motor 2 outputs a given torque.

Specifically, the six-phase motor 2 is used for converting the electric energy provided by the power circuit 3 into mechanical energy to output torque, so as to ensure the normal operation of a vehicle steering system.

The embodiment sets up six branch roads 31 and connects in parallel, avoids setting up a branch road 31 alone just can output maximum torque, and then avoids the device lectotype to appear the condition of crossing the design under normal operating mode and appears, more can avoid the cost increase, influences the whole competitiveness of product.

In this embodiment, when a fault occurs in one branch 31 of the power circuit 3, the connection between the branch 31 where the fault occurs and the six-phase motor 2 is cut off at this time, and it is ensured that the remaining 5 branches 31 operate, at this time, if the field effect transistor 311 has a certain margin, the maximum torque output can be ensured, and if there is no margin at all, the six-phase motor 2 can ensure at least 83% of the maximum torque output;

when two branches 31 in the power circuit 3 have faults, the connection between the branch 31 where the fault exists and the six-phase motor 2 is cut off at the moment, and the rest 4 branches 31 are ensured to work, at the moment, if the field effect transistor 311 has a certain margin, the maximum torque output can be ensured, and if no margin exists, the six-phase motor 2 can ensure at least 67% of the maximum torque to output;

when three branches 31 in the power circuit 3 have a fault, the connection between the branch 31 where the fault is located and the six-phase motor 2 is cut off at the moment, and 3 branches 31 are ensured to work, at the moment, if the field effect transistor 311 has a certain margin, the maximum torque output can be ensured, and if no margin exists, the six-phase motor 2 can ensure at least 50% of the maximum torque output;

when four or more branches 31 in the power circuit 3 are in fault, and when the torque output by the six-phase motor 2 is less than 50% of the maximum torque, the vehicle steering system cannot be normally driven to work, so that the six-phase motor 2 is controlled to stop working; as can be seen, by arranging the six branches 31 in parallel, even if three branches 31 fail, the connection between the six-phase motor 2 and the branch 31 in the failure state can be actively cut off; meanwhile, the non-fault branch 31 still continues to work, at the moment, the six-phase motor 2 still can ensure that more than half of the maximum torque is output, the normal operation of a vehicle steering system is ensured, the requirement of high-grade automatic driving is met, and the driving experience of a driver is improved.

Specifically, each of the branches 31 includes two field effect transistors 311 connected in series;

the field effect transistors 311 on the six branches 31 are all electrically connected with the control circuit 1, so that the control circuit 1 can acquire the fault state of each branch 31; specifically, each field effect transistor 311 can receive the instruction of the control circuit 1, and directly generates the current output to the six-phase motor 2 through the high-frequency switching action, so that the current output to the six-phase motor 2 can be accurately controlled through the control of the control circuit 1, and the six-phase motor 2 can indirectly generate corresponding torque according to the instruction of the control circuit 1, namely, the six-phase motor 2 in the embodiment can generate different torques according to the instruction of the control circuit 1, thereby meeting the requirements of automatic driving at different levels and improving the driving experience of a driver.

In particular, the power circuit 3 comprises a power supply 32 for supplying the control circuit 1 and the power circuit 3;

the six branches 31 are connected in parallel and then connected in series with the power supply 32, and the power supply 32 is further electrically connected with the control circuit 1; the power supply 32 supplies power to the control circuit 1 and the power circuit 3 at the same time, so that the control circuit 1 and the power circuit 3 can work at the same time, the control circuit and the power circuit jointly realize the function of a steering system control circuit based on a six-phase motor, and the working consistency is ensured.

In particular, the power circuit 3 further comprises a safety switch 33 for disconnecting the connection between the six-phase motor 2 and the branch 31 in the fault condition;

both ends of one of the safety switches 33 are connected to one of the branches 31 and one of the windings of the six-phase motor 2, respectively.

Specifically, the number of the safety switches 33, the number of the branches 31, and the number of windings of the six-phase motor 2 are all equal;

each branch 31 is connected with a winding of the six-phase motor 2 in a switching manner through one safety switch 33; in the embodiment, by providing the safety switch 33, when one or more of the branches 31 has a fault, the currently faulty branch 31 and the winding of the six-phase motor 2 can be disconnected in time through the safety switch 33 connected with the currently faulty branch 31, so that interference on the branch 31 which does not have the fault is prevented from being introduced, and the fault is also prevented from being introduced to other branches 31, which enables the steering system control circuit based on the six-phase motor to have higher stability and reliability, and simultaneously avoids economic loss.

Specifically, in the present embodiment, the field effect transistor 311 is driven based on a six-phase SVPWM (space voltage pulse width vector pulse width modulation) control strategy, and then the six-phase motor 2 is controlled to output a corresponding torque, so as to perform the power-assisted steering operation of the vehicle steering system; when the field effect transistor 311 on one branch 31 has a fault, the safety switch 33 corresponding to the branch 31 in the fault state is switched off, the control strategy is switched, and the six-phase motor 2 is continuously driven to output corresponding torque to operate based on the five-phase SVPWM control strategy. At this time, if the field effect transistor 311 has a certain margin, the highest torque output can be ensured, and if there is no margin at all, at least 83% of torque output can be ensured; if the field effect transistor 311 on the branch 31 is damaged, the operation is analogized in the same way until two phases remain, the SVPWM control strategy cannot be maintained, and the six-phase motor 2 is controlled to stop, so that the steering system control circuit based on the six-phase motor has higher stability and reliability; and the six branches 31 are arranged in parallel, so that the production cost is reduced, and the overall competitiveness of the product is improved.

In another aspect of the present invention, a steering system control method based on a six-phase motor is provided, where the method is implemented based on the above-mentioned steering system control circuit based on a six-phase motor, and the method includes:

s101: acquiring the working state of each branch 31 in the power circuit 3;

s102: obtaining the fault number of the branch 31 in the power circuit 3 according to the working state of each branch 31 in the power circuit 3;

s103: judging whether the power circuit 3 meets a preset condition or not according to the fault number of the branch circuits 31 in the power circuit 3;

s104: and when the power circuit 3 meets the preset condition, the connection between the six-phase motor 2 and the branch 31 in the fault state is cut off, and the steering system is controlled to normally operate.

It should be noted that: in this embodiment, the working state of each branch 31 in the power circuit 3 is obtained, the fault number of the branch 31 is obtained, the connection between the six-phase motor 2 and the branch 31 in the fault state is cut off based on the fault number of the branch 31, the non-fault branch 31 still continues to work to ensure the normal operation of the steering system, meanwhile, the requirement of high-level automatic driving can be met, and the driving experience of a driver is improved.

Specifically, the preset condition is that the number of faults of the branch 31 in the power circuit 3 is not more than three;

the judging whether the power circuit 3 meets the preset condition according to the fault number of the branch 31 in the power circuit 3 includes:

when the number of the faults of the branch 31 in the power circuit 3 is not more than three, determining that the power circuit 3 meets the preset condition; when the number of faults of the branch 31 is not more than three in the present embodiment, the connection between the six-phase motor 2 and the branch 31 in the fault state can be actively cut off; meanwhile, the non-fault branch 31 still continues to work, and at the moment, the six-phase motor 2 still can ensure that more than half of the maximum torque is output; the normal operation of a vehicle steering system is ensured, the requirement of high-grade automatic driving is met, and the driving experience of a driver is improved;

when the number of the faults of the branch 31 in the power circuit 3 is more than three, it is determined that the power circuit 3 does not satisfy the preset condition.

Specifically, after the determining whether the power circuit 3 meets the preset condition according to the number of the faults of the branch 31 in the power circuit 3, the method further includes:

when the power circuit 3 does not meet the preset condition, controlling the steering system to stop running; in this embodiment, when the number of faults of the branch 31 is greater than three, at this time, the number of faults of the branch 31 is greater than a limit value at which the power circuit 3 can operate, at this time, the power circuit 3 cannot continuously output current to the six-phase motor 2, at this time, the six-phase motor 2 needs to be controlled to stop operating, and at this time, the steering system stops operating.

Specifically, the obtaining of the operating state of each branch 31 in the power circuit 3 includes:

when the vehicle is started, the control circuit 1 acquires the state of the field effect transistor 311 on each branch 31 in real time;

when at least one field effect transistor 311 on the branch 31 is in fault, determining that the current working state of the branch 31 is a fault state;

when the field effect transistors 311 on the branch 31 are all normal, determining that the working state of the current branch 31 is a normal state;

the operating state of each branch 31 in the power circuit 3 is counted.

Yet another aspect of the present invention also protects a computer readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a six-phase motor based steering system control method as described above.

Although the present invention has been described by way of preferred embodiments, the present invention is not limited to the embodiments described herein, and various changes and modifications may be made without departing from the scope of the present invention.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The embodiments and features of the embodiments described herein above can be combined with each other without conflict.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.