阅读说明：本技术 用于电动转向系统的电机传感器冗余系统及其控制方法 (Motor sensor redundancy system for electric power steering system and control method thereof ) 是由 郑虎 朱文勃 刘飞 张成宝 李景轩 丰烨 古凌瑞 于 2020-04-27 设计创作，主要内容包括：本发明提供一种用于电动转向系统的电机传感器冗余系统及其控制方法。其中,系统包括控制器模块、切换电路模块、驱动电机和电机传感器模块。当电机传感器模块失效时,切换电路模块将其中一套三相绕组连接到第二控制器,第二控制器获取驱动电机的位置信息,以使第一控制器控制驱动电机。本方案仅需一个电机位置传感器就能够实现对整个系统的控制,简化了系统的结构,也可以有效地降低成本。此外,能够避免因设置多个通道而使用较多的接插件而导致的失效风险增大的问题。还能够降低电机控制算法的设计难度。(The invention provides a motor sensor redundancy system for an electric power steering system and a control method thereof. The system comprises a controller module, a switching circuit module, a driving motor and a motor sensor module. When the motor sensor module fails, the switching circuit module connects one set of three-phase windings to the second controller, and the second controller acquires position information of the driving motor, so that the first controller controls the driving motor. The scheme can realize the control of the whole system only by one motor position sensor, simplifies the structure of the system and can effectively reduce the cost. In addition, the problem of increased failure risk due to the use of a large number of connectors by providing a plurality of channels can be avoided. And the design difficulty of a motor control algorithm can be reduced.)

1. A motor sensor redundancy system for an electric power steering system, comprising a controller module, a drive motor, a switching circuit module and a motor sensor module;

the controller module comprises a first controller and a second controller, the first controller is in communication connection with the second controller, and the first controller and the second controller can respectively and independently control the driving motor of the electric steering system; the driving motor at least comprises two sets of three-phase windings, wherein one set of three-phase windings is connected to the second controller through the switching circuit module;

the switching circuit module is connected with the second controller to control the second controller to collect the counter electromotive force of the three-phase winding set and acquire the position information of the driving motor according to the counter electromotive force of the three-phase winding set;

the motor sensor module is connected with the first controller and the second controller so as to transmit the position information of the driving motor to the first controller and/or the second controller;

the motor sensor module detects position information of the driving motor and transmits the position information of the driving motor to the first controller and/or the second controller, and the first controller controls another set of three-phase windings of the driving motor according to the position information of the driving motor; the second controller controls the set of three-phase windings of the driving motor according to the position information of the driving motor;

the second controller controls the switching circuit module to collect the counter electromotive force of one set of three-phase windings of the driving motor according to failure information of the motor sensor module, the second controller obtains position information of the driving motor according to the counter electromotive force of the one set of three-phase windings and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase windings of the driving motor according to the position information of the driving motor.

2. The motor sensor redundancy system for an electric power steering system of claim 1, wherein the switching circuit module comprises a switching control circuit and a sampling circuit;

the three-phase winding of the driving motor is connected with the switching control circuit and the sampling circuit in sequence and then is connected to the second controller;

the sampling circuit samples the counter electromotive force of one set of three-phase winding of the driving motor, and sends the counter electromotive force of one set of three-phase winding to the second controller, the second controller obtains the position information of the driving motor according to the counter electromotive force of one set of three-phase winding, and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase winding of the driving motor according to the position information of the driving motor.

3. The motor sensor redundancy system for an electric power steering system of claim 2, wherein the switching control circuit includes a control subunit connected to each phase winding of the set of three phase windings, respectively;

the control subunit comprises two metal oxide semiconductor field effect transistors arranged in a mirror image mode.

4. The motor sensor redundancy system for an electric power steering system of claim 2, wherein the motor sensor module is dual channel connected with the first controller and the second controller;

the sampling circuit is connected with the second controller in a dual-channel mode.

5. The motor sensor redundancy system for an electric power steering system of claim 2, further comprising a motor drive module;

the motor driving module comprises a first motor driving module connected with the first controller and a second motor driving module connected with the second controller.

6. The motor sensor redundancy system for an electric power steering system of claim 5, wherein the one of the sets of three phase windings of the drive motor is further connected to the second motor drive module;

and the other three-phase winding of the driving motor is connected to the first motor driving module.

7. The motor sensor redundancy system for an electric power steering system of claim 5,

a first phase line separation circuit is further arranged between the other three-phase winding of the driving motor and the first motor driving module, and the first phase line separation circuit is used for cutting off the connection between the other three-phase winding of the driving motor and the first motor driving module;

the first phase line separating circuit comprises three first phase line separating subunits which are respectively connected with each phase winding of the other set of three-phase windings, the first motor driving module comprises three motor driving subunits, and the first phase line separating subunits are respectively and correspondingly connected with the motor driving subunits;

a second phase line separation circuit is further arranged between the set of three-phase windings of the driving motor and the second motor driving module, and the second phase line separation circuit is used for cutting off the connection between the set of three-phase windings of the driving motor and the second motor driving module;

the second phase line separation circuit comprises three second phase line separation subunits which are respectively connected with each phase winding of one set of three-phase windings, the second motor driving module comprises three motor driving subunits, and the second phase line separation subunits are respectively and correspondingly connected with the motor driving subunits;

after the second phase line separation circuit cuts off the connection between the three-phase winding and the second motor driving module, the switching control circuit is closed, so that the sampling circuit samples the voltage information of the three-phase winding through the switching control circuit.

8. The motor sensor redundancy system for an electric power steering system of claim 1, further comprising a power supply controller module comprising a first power supply controller module and a second power supply controller module;

the first power supply controller module comprises a first low-voltage power supply, a first filtering unit and a first power supply chip, the first power supply chip is connected to the first controller, and the first filtering unit is connected with the first power supply chip;

the second power supply controller module comprises a second low-voltage power supply, a second filtering unit and a second power supply chip, the second power supply chip is connected to the second controller, and the second filtering unit is connected with the second power supply chip.

9. The motor sensor redundancy system for an electric power steering system of claim 8, further comprising a first torque sensor module and/or a first angle sensor module connected with the first controller, the first torque sensor module, the first angle sensor module being respectively connected with the first power chip; and

and the second torque sensor module and/or the second angle sensor module are connected with the second controller and are respectively connected with the second power supply chip.

10. A control method for a motor sensor redundancy system for an electric power steering system, which is applied to the motor sensor redundancy system for an electric power steering system according to any one of claims 1 to 9, the control method comprising:

judging whether the electrical components of the redundant system of the motor sensor fail;

if so, judging whether the motor sensor module fails;

if not, the first controller and the second controller jointly control the driving motor;

if the motor sensor module does not fail, disconnecting the three-phase winding of the branch where the failed electrical component is located;

if the motor sensor module fails, the second phase line separation circuit is disconnected, and the switching control circuit and the sampling circuit are closed;

the second controller acquires the position information of the driving motor according to the voltage information of one set of three-phase windings of the driving motor acquired by the sampling circuit, and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase windings of the driving motor according to the position information of the driving motor.

Technical Field

The invention relates to the field of automobiles, in particular to a motor sensor redundancy system for an electric steering system and a control method thereof.

Background

Electric power steering systems (electric power steering systems) have advanced greatly over the years. The electric power steering system can provide optimal steering assistance to a vehicle at different vehicle speeds, and also provide various functions such as automatic parking, driving mode switching, steering torque compensation, and the like in terms of driving assistance.

However, the conventional electric power steering system has low safety, because if a component of the electric power steering system fails to be handled effectively in time during steering, the steering will be difficult or even fail, which undoubtedly results in serious safety accidents.

In order to ensure that the electric power steering system is safe even when a single point failure or a limited multiple point failure occurs, it is contemplated to install two sets of motor sensor systems on the electric power steering system, and to switch to another set of system immediately after one set of system fails. Although the safety of the electric power steering system can be improved, there are some drawbacks: firstly, the cost is high; secondly, two sets of systems have difficulty in the arrangement of the whole vehicle, and are particularly characterized by large occupied space and complex wiring; third, both systems require at least four channels to interface with the controller, thereby requiring more connectors, which increases the risk of failure due to manufacturing considerations; fourthly, a phase difference exists between the two sensor chips and the counter electromotive force of the motor, and in order to overcome the influence of the phase difference, an algorithm for controlling the motor is designed to be very complicated.

Specifically, a conventional motor sensor redundancy system for an electric power steering system, as shown in fig. 1, includes a first controller 1, a second controller 2, a driving motor 3, and a motor sensor module 5. The drive motor 3 is typically a 6-phase, 9-phase or 12-phase motor. Motor sensor module 5 is connected with first controller 1 binary channels, is connected with second controller 2 binary channels simultaneously.

Although the motor sensor redundancy system for the electric power steering system can ensure that a backup system is provided to ensure the safety of the electric power steering system when a single point failure occurs, the motor sensor redundancy system must be connected with two high-precision controller chips, namely the first controller 1 and the second controller 2, which not only complicates the design of the system, but also increases the design cost due to excessive wiring harnesses and connectors. Connecting two controllers simultaneously requires more connectors, which actually increases the risk of failure due to manufacturing considerations. In addition, there may be a different phase difference between the two controllers and the back electromotive force of the driving motor, and the control algorithm of the driving motor 3 may be very complicated in order to overcome the influence of the phase difference.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, an electric steering system adopts two sensor chips to avoid single-point failure, so that the system cost is higher, the design is complex, more plug-ins are easy to cause failure, and the algorithm for controlling a motor is complex. Therefore, the invention provides a motor sensor redundancy system for an electric power steering system and a control method thereof, which can realize the control of the whole system only by one controller, simplify the structure of the system and effectively reduce the cost. Further, the problem of an increased risk of failure due to the use of a large number of connectors by providing a plurality of channels can also be avoided. Furthermore, the design difficulty of the motor control algorithm can be reduced.

In order to solve the above problems, an embodiment of the present invention discloses a motor sensor redundancy system for an electric power steering system, the motor sensor redundancy system including a controller module, a driving motor, a switching circuit module, and a motor sensor module;

the controller module comprises a first controller and a second controller, the first controller is in communication connection with the second controller, and the first controller and the second controller can respectively and independently control the driving motor of the electric steering system; the driving motor at least comprises two sets of three-phase windings, wherein one set of three-phase windings is connected to the second controller through the switching circuit module;

the switching circuit module is connected with the second controller to control the second controller to collect the counter electromotive force of the three-phase winding set and acquire the position information of the driving motor according to the counter electromotive force of the three-phase winding set;

the motor sensor module is connected with the first controller and the second controller so as to transmit the position information of the driving motor to the first controller and/or the second controller;

the motor sensor module detects position information of the driving motor and transmits the position information of the driving motor to the first controller and/or the second controller, and the first controller controls another set of three-phase windings of the driving motor according to the position information of the driving motor; the second controller controls the set of three-phase windings of the driving motor according to the position information of the driving motor;

the second controller controls the switching circuit module to collect the counter electromotive force of one set of three-phase windings of the driving motor according to failure information of the motor sensor module, the second controller obtains position information of the driving motor according to the counter electromotive force of the one set of three-phase windings and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase windings of the driving motor according to the position information of the driving motor.

By adopting the scheme, the two controllers which can respectively control the electric power steering system are arranged, when a circuit where one controller is located breaks down, the circuit where the other controller is located can be rapidly switched, and the safety of the electric power steering system is improved. And only one controller is needed to realize the control of the whole system, the structure of the system is simplified, the cost can be effectively reduced, and the space in the vehicle can be saved. Moreover, the switching control circuit is used for replacing two channels connected with the second controller, so that the problem of increased failure risk caused by using more connectors due to the arrangement of a plurality of channels can be avoided. Further, in designing the motor algorithm, it is not necessary to consider the phase differences existing between the plurality of controllers and the counter electromotive force of the motor, and the algorithm for controlling the motor can become simpler.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiments of the present invention, the switching circuit module includes a switching control circuit and a sampling circuit;

the three-phase winding of the driving motor is connected with the switching control circuit and the sampling circuit in sequence and then is connected to the second controller;

the sampling circuit samples the counter electromotive force of one set of three-phase winding of the driving motor, and sends the counter electromotive force of one set of three-phase winding to the second controller, the second controller obtains the position information of the driving motor according to the counter electromotive force of one set of three-phase winding, and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase winding of the driving motor according to the position information of the driving motor.

By adopting the scheme, the switching control circuit is matched with the sampling circuit, the voltage information of one set of three-phase winding can be collected in real time, and when a single-point failure occurs, the switching control circuit can be quickly switched to another controller to collect information and control a system.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the present invention, the switching control circuit includes a control subunit connected to each phase winding of the set of three-phase windings;

the control subunit comprises two metal oxide semiconductor field effect transistors arranged in a mirror image mode.

By adopting the scheme, the voltage information can be sampled only through the combination of the metal oxide semiconductor field effect transistors, the circuit structure is simpler, and the design cost of the system is lower.

According to another specific embodiment of the invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the invention, the motor sensor module is in double-channel connection with the first controller and the second controller;

the sampling circuit is connected with the second controller in a dual-channel mode.

By adopting the scheme, the mode of double-channel connection is adopted, the information transmission speed is faster and more stable, when one channel is damaged, the information transmission can be carried out, and the reliability of the system is improved.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the present invention further includes a motor driving module;

the motor driving module comprises a first motor driving module connected with the first controller and a second motor driving module connected with the second controller.

By adopting the scheme, the two motor driving modules are arranged to drive the motor, the two driving modules do not interfere with each other, and the reliability of the system can be improved.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the present invention, the one set of three-phase windings of the driving motor is further connected to the second motor driving module;

and the other three-phase winding of the driving motor is connected to the first motor driving module.

According to another specific embodiment of the present invention, in the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the present invention, a first phase line separation circuit is further disposed between the other three-phase winding of the driving motor and the first motor driving module, and the first phase line separation circuit is configured to disconnect the other three-phase winding of the driving motor from the first motor driving module;

the first phase line separating circuit comprises three first phase line separating subunits which are respectively connected with each phase winding of the other set of three-phase windings, the first motor driving module comprises three motor driving subunits, and the first phase line separating subunits are respectively and correspondingly connected with the motor driving subunits;

a second phase line separation circuit is further arranged between the set of three-phase windings of the driving motor and the second motor driving module, and the second phase line separation circuit is used for cutting off the connection between the set of three-phase windings of the driving motor and the second motor driving module;

the second phase line separation circuit comprises three second phase line separation subunits which are respectively connected with each phase winding of one set of three-phase windings, the second motor driving module comprises three motor driving subunits, and the second phase line separation subunits are respectively and correspondingly connected with the motor driving subunits;

after the second phase line separation circuit cuts off the connection between the three-phase winding and the second motor driving module, the switching control circuit is closed, so that the sampling circuit samples the voltage information of the three-phase winding through the switching control circuit.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system disclosed in the embodiment of the present invention further includes a power supply controller module, the power supply controller module including a first power supply controller module and a second power supply controller module;

the first power supply controller module comprises a first low-voltage power supply, a first filtering unit and a first power supply chip, the first power supply chip is connected to the first controller, and the first filtering unit is connected with the first power supply chip;

the second power supply controller module comprises a second low-voltage power supply, a second filtering unit and a second power supply chip, the second power supply chip is connected to the second controller, and the second filtering unit is connected with the second power supply chip.

By adopting the scheme, two groups of power supply controller modules which can work respectively and independently are arranged, electric energy can be supplied to the two controllers independently, the reliability of the system is improved, and the design difficulty of the system is reduced.

According to another specific embodiment of the present invention, the motor sensor redundancy system for an electric power steering system further includes a first torque sensor module and/or a first angle sensor module connected to the first controller, wherein the first torque sensor module and the first angle sensor module are respectively connected to the first power chip; and

and the second torque sensor module and/or the second angle sensor module are connected with the second controller and are respectively connected with the second power supply chip.

By adopting the scheme, two groups of torque sensor modules and angle sensor modules which can work independently are arranged and are controlled by the two controllers respectively, so that the reliability of the system is improved, and the design difficulty of the system is reduced.

The embodiment of the invention also discloses a control method for the motor sensor redundancy system of the electric power steering system, which is suitable for the motor sensor redundancy system of the electric power steering system in any embodiment, and the control method for the motor sensor redundancy system of the electric power steering system comprises the following steps:

judging whether the electrical components of the redundant system of the motor sensor fail;

if so, judging whether the motor sensor module fails;

if not, the first controller and the second controller jointly control the driving motor;

if the motor sensor module does not fail, disconnecting the three-phase winding of the branch where the failed electrical component is located;

if the motor sensor module fails, the second phase line separation circuit is disconnected, and the switching control circuit and the sampling circuit are closed;

the second controller acquires the position information of the driving motor according to the voltage information of one set of three-phase windings of the driving motor acquired by the sampling circuit, and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase windings of the driving motor according to the position information of the driving motor.

The invention has the beneficial effects that:

according to the invention, by arranging two controllers which can respectively control the electric power steering system, when a circuit where the first controller is located breaks down or a motor sensor module fails, the connection between the second controller and one set of three-phase windings of the driving motor is disconnected, so that the second controller collects the counter electromotive force of the set of three-phase windings, acquires the position information of the motor rotor according to the counter electromotive force and transmits the position information to the first controller. Therefore, even if the motor sensor module fails, the first controller can control the driving motor, and the safety of the electric power steering system is improved. Compared with the prior art that two signal channels are respectively arranged on two controllers and the two controllers are used simultaneously, the control of the whole system can be realized by only one controller in a mode that the two signal channels of the motor sensor module are respectively connected with the first controller and the second controller is connected to the driving motor through the switching control circuit, so that the structure of the system is simplified and the cost can be effectively reduced. In addition, the space in the vehicle can be saved by only providing one controller, and the problem of increased failure risk caused by the use of more connectors due to the provision of a plurality of channels can be avoided by replacing two channels connecting the driving motor and the second controller with a switching control circuit. Further, in designing the motor algorithm, it is not necessary to consider the phase differences existing between the plurality of controllers and the counter electromotive force of the motor, and the algorithm for controlling the motor can become simpler.

Drawings

FIG. 1 is a schematic circuit diagram of a prior art motor sensor redundancy system for an electric power steering system;

FIG. 2 is a schematic diagram of a circuit configuration of a motor sensor redundancy system for an electric power steering system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a partial circuit configuration of a motor sensor redundancy system for an electric power steering system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of another partial circuit configuration of a motor sensor redundancy system for an electric power steering system according to an embodiment of the present invention;

fig. 5 is a flowchart of a control method for a motor sensor redundancy system of an electric power steering system according to an embodiment of the present invention.

Description of reference numerals:

the prior art is as follows:

1. a first controller; 2. a second controller; 3. a drive motor; 5. a motor sensor module.

The invention comprises the following steps:

1. a first controller; 2. a second controller; 3. a drive motor; 4. a switching circuit module; 41. a switching control circuit; 42. a sampling circuit; 5. a motor sensor module; 6. a first motor drive module; 7. a second motor drive module; 8. a first phase line separation circuit; 9. a second phase line separation circuit; ABC and UVW three-phase windings; DA1, da2 motor drive axle; hpf1. a first filtering unit; hpf2. second filtering unit; IC1. a first power supply chip; IC2. a second power supply chip; IR1. a first pre-drive chip; IR2. a second pre-drive chip; t1, T2. first torque sensor module; t3, T4. a second torque sensor module; a1, a2. first angle sensor module; a3, a4. a second angle sensor module; CAN1. a first communication module; CAN2. a second communication module; rs1. a first transceiver circuit; rs2. second transceiving circuitry.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.

The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

In order to solve the problems that in the prior art, an electric steering system adopts two sensor chips to avoid single-point failure, so that the system cost is higher, the design is complex, more plug-ins are easy to cause failure, and the algorithm for controlling a motor is complex, the embodiment of the invention provides a motor sensor redundancy system for the electric steering system, the control of the whole system can be realized by only one controller, the structure of the system is simplified, and the cost can be effectively reduced. Further, the problem of an increased risk of failure due to the use of a large number of connectors by providing a plurality of channels can also be avoided. Furthermore, the design difficulty of the motor control algorithm can be reduced.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Referring to fig. 2, a schematic circuit diagram of a motor sensor redundancy system for an electric power steering system according to an embodiment of the present invention is shown, and the motor sensor redundancy system according to the embodiment of the present invention includes a controller module, a switching circuit module 4, a driving motor 3, and a motor sensor module 5.

The controller module includes a first controller 1 and a second controller 2, and the first controller 1 and the second controller 2 are capable of individually controlling the driving motors 3 of the electric power steering system, respectively.

It should be noted that, in this embodiment, the first controller 1 and the second controller 2 are communicatively connected, and the first controller 1 may transmit the position information acquired by the motor sensor module 5 to the second controller 2, the second controller 2 may transmit the position information acquired by the motor sensor module 5 to the first controller 1, and the second controller 2 may also transmit the back electromotive force of one set of three-phase windings (UVW three-phase windings) to the first controller 1.

Specifically, in the present embodiment, the first controller 1 and the second controller 2 both employ chips. It should be noted that, in this embodiment, the first controller 1 and the second controller 2 include, but are not limited to, a single chip, an integrated circuit, and other devices that implement a control function in a hardware, software, or a combination of hardware and software, and this embodiment is not limited to this.

The first controller 1 and the second controller 2 can individually control the driving motors 3 of the electric power steering system, respectively, means that either controller can control the driving motors 3, so that when one controller fails, the other controller can control the driving motors 3. But when only one controller controls the drive motor 3, the drive motor 3 provides 50% of the maximum assist force.

The switching circuit module 4 is connected to the second controller 2 to control the second controller 2 to collect back electromotive forces of one set of three-phase windings (UVW three-phase windings), and acquire position information of the driving motor 3 according to the back electromotive forces of one set of three-phase windings (UVW three-phase windings).

It should be noted that, in this embodiment, one set of three-phase windings refers specifically to UVW three-phase windings, and the other set of three-phase windings refers specifically to ABC three-phase windings.

Specifically, referring to fig. 2 and 3, the motor sensor redundancy system switching circuit module 4 provided in the present embodiment includes a switching control circuit 41 and a sampling circuit 42.

One set of three-phase windings (UVW three-phase windings) of the driving motor 3 is connected to the second controller 2 after being sequentially connected to the switching control circuit 41 and the sampling circuit 42.

The sampling circuit 42 samples the counter electromotive force of one of the three-phase windings of the driving motor 3 and sends the counter electromotive force of the one of the three-phase windings to the second controller 2, the second controller 2 obtains the position information of the driving motor 3 according to the counter electromotive force of the one of the three-phase windings and transmits the position information of the driving motor 3 to the first controller 1, and the first controller 1 controls the other three-phase windings of the driving motor 3 according to the position information of the driving motor 3.

The specific structure of the switching control circuit 41 is explained below with reference to fig. 3.

The switching control circuit 41 comprises a control subunit connected to each phase winding of one of the three phase windings respectively. And each control subunit comprises two Metal-Oxide-Semiconductor Field-Effect transistors (MOSFETs) arranged in a mirror image manner. That is, two mosfets are disposed back-to-back.

Specifically, in the present embodiment, the terminals of one set of three-phase windings (UVW three-phase windings) of the driving motor 3 are connected to the sampling circuit 42 through the switching control circuit 41, that is, two back-to-back mosfets, the second controller 2 detects the counter potential of the UVW three-phase windings of the driving motor 3 through the sampling circuit 42 to obtain the motor rotor position (that is, the position information of the driving motor 3), and then the second controller 2 transmits the position information to the first controller 1, and the first controller 1 controls the ABC three-phase windings of the driving motor 3 according to the position information of the driving motor 3.

In this embodiment, the structure of the sampling circuit 42 is not substantially different from the sampling circuit in the prior art, and is not described herein again.

The drive motor 3 comprises at least two sets of three-phase windings, wherein one set of three-phase windings is connected to the second controller 2 via a switching circuit module 4.

That is, the driving motor 3 may include two sets of three-phase windings, and may also include three sets of three-phase windings, or four sets of three-phase windings or even more, which is what we often say as a dual three-phase or twelve-phase motor. The present embodiment is exemplified by the driving motor 3 including two sets of three-phase windings, but other embodiments of the present invention are not limited thereto.

Referring to fig. 2, in this embodiment, the motor sensor module 5 is connected to the first controller 1 and the second controller to control the second controller 2 to collect the back electromotive force of one set of three-phase windings, and acquire the position information of the driving motor according to the back electromotive force of one set of three-phase windings.

That is, the motor sensor module 5 is connected to the first controller 1 and the second controller 2. When the electric steering system works normally, the motor sensor module 5 can transmit the acquired position information of the driving motor 3 to the first controller 1, and then the position information is transmitted to the second controller 2 by the first controller 1; the motor sensor module 5 can also transmit the collected position information of the driving motor 3 to the second controller 2, and then the position information is transmitted to the first controller 1 by the second controller 2; of course, the motor sensor module 5 may transmit the acquired position information of the driving motor 3 to the first controller 1 and the second controller 2, respectively. This embodiment is not particularly limited thereto.

Specifically, the motor sensor module 5 in the present embodiment is a motor position sensor, and is preferably a high-precision motor position sensor chip. It is mainly for collecting the position information of the driving motor 3 and transmitting the position information to the first controller 1. Therefore, a person skilled in the art may select other sensors capable of acquiring the position information of the driving motor 3 according to actual needs, which is not specifically limited in this embodiment.

In this embodiment, the motor sensor module 5 is connected to the first controller 1 and the second controller 2 in a dual channel manner; the sampling circuit 42 is connected to the second controller 2 via two channels.

In this embodiment, when the system does not have a single point failure, the working process of the system is as follows:

the motor sensor module 5 detects position information of the driving motor 3 and transmits the position information of the driving motor 3 to the first controller 1 and/or the second controller 2. The first controller 1 controls the other set of three-phase windings of the drive motor 3 according to the position information of the drive motor 3. And the second controller 2 controls one of the three-phase windings of the driving motor 3 according to the position information of the driving motor 3. The specific process of transmitting the position information of the driving motor 3 is described in detail in the foregoing, and is not described in detail herein.

That is, in the case where the single point failure does not occur, the first controller 1 and the second controller 2 may control the ABC and UVW three-phase windings of the driving motor 3, respectively and simultaneously. Even though the motor sensor module 5 only transmits the position information of the driving motor 3 to the first controller 1 or the second controller 2, since the first controller 1 and the second controller 2 are in communication connection, the first controller 1 may transmit the position information of the driving motor 3 acquired by the motor sensor module 5 to the second controller 2, and the second controller 2 may transmit the position information of the driving motor 3 acquired by the motor sensor module 5 to the first controller 1.

When the system has single point failure, the working process is as follows:

the second controller 2 controls the switching circuit module 4 to collect the counter electromotive force of one set of three-phase windings of the driving motor 3 according to the failure information of the motor sensor module 5, the second controller 2 obtains the position information of the driving motor 3 according to the counter electromotive force of one set of three-phase windings, and transmits the position information of the driving motor 3 to the first controller 1, and the first controller 1 controls the other set of three-phase windings of the driving motor 3 according to the position information of the driving motor 3.

It should be noted that the first controller 1 and the second controller 2 cannot simultaneously perform control and voltage acquisition on any set of three-phase windings. Therefore, when the motor position sensor connected to the first controller 1 fails, it is necessary to disconnect the control of the UVW three-phase winding by the second controller 2 in order to collect the back electromotive force of the UVW three-phase winding. Then, the back electromotive force of the UVW three-phase winding is collected by the second controller 2, and then the position information of the driving motor 3 is obtained according to the back electromotive force, and then the position information is transmitted to the first controller 1, so that the first controller 1 controls the ABC three-phase winding. Therefore, even if the motor position sensor cannot normally acquire the position information of the driving motor 3, the first controller 1 can normally control the ABC three-phase winding.

In addition, when the first controller 1 or the second controller 2 fails, since the first controller 1 and the second controller 2 are both connected to the motor sensor module 5, the position information of the driving motor 3 can be transmitted to the first controller 1 or the second controller 2, and then the driving motor 3 is controlled only by the first controller 1 or the second controller 2, without affecting the normal operation of the electric power steering system.

With continued reference to fig. 2, the redundant system of the motor sensor provided in the present embodiment further includes a motor driving module; the motor driving module comprises a first motor driving module 6 connected with the first controller 1 and a second motor driving module 7 connected with the second controller 2.

It should be understood that the present embodiment is only schematically provided with one first motor driving module 6 and one second motor driving module 7, and in fact, the motor driving modules respectively connected with each controller may not only be one, but also be two, three or even more.

Specifically, in the present embodiment, the first motor driving module 6 includes a pre-driving chip IR1(integrated circuit, IR) and a motor driving bridge DA1(driving a, DA), and the second motor driving module 6 includes a pre-driving chip IR2(integrated circuit, IR) and a motor driving bridge DA2(driving a, DA). Those skilled in the art can add or delete various circuit structures included in the motor driving module according to actual needs to complete corresponding functions.

It should be noted that, in this embodiment, one set of three-phase windings of the driving motor 3 is further connected to the second motor driving module 7; the other set of three-phase windings of the drive motor 3 is connected to a first motor drive module 6.

Referring to fig. 3, a partial circuit configuration diagram of a motor sensor redundancy system for an electric power steering system is shown, and another partial circuit configuration diagram of a motor sensor redundancy system for an electric power steering system is shown in fig. 4. In this embodiment, a first Phase separation circuit PTR1(Phase separation circuit PTR) is further disposed between the other three-Phase winding of the driving motor 3 and the first motor driving module 6, and the first Phase separation circuit PTR1(Phase separation circuit PTR) is configured to disconnect the other three-Phase winding of the driving motor 3 from the first motor driving module 6.

Referring to fig. 3, the first Phase separating circuit PTR1(Phase separating circuit, PTR) includes three first Phase separating subunits connected to each Phase winding of another set of three-Phase windings, respectively, and the first motor driving module 6 includes three motor driving subunits, and the first Phase separating subunits are correspondingly connected to the motor driving subunits, respectively.

Referring to fig. 4, a second Phase wire separation circuit PTR2(Phase separation circuit PTR) is further provided between one set of three-Phase windings of the driving motor 3 and the second motor driving module 7, and the second Phase wire separation circuit PTR2(Phase separation circuit PTR) is used to cut off the connection of one set of three-Phase windings of the driving motor 3 to the second motor driving module 7.

The second Phase wire separating circuit PTR2(Phase separate circuit, PTR) includes three second Phase wire separating subunits connected to each Phase winding of one set of three-Phase windings, respectively, and the second motor driving module 7 includes three motor driving subunits connected to the second Phase wire separating subunits, respectively.

Referring to fig. 2 and 4, the second Phase wire separation circuit PTR2(Phase separation circuit, PTR) disconnects one of the three-Phase windings from the second motor driving module 7, meaning that the second controller 2 shifts from a mode of controlling the UVW three-Phase windings to a mode of collecting the counter-potential of the UVW three-Phase windings. At this time, the switching control circuit 41 is closed so that the sampling circuit 42 samples the voltage information of the other set of three-phase windings via the switching control circuit 41.

Specifically, each phase line separating subunit comprises two back-to-back metal oxide semiconductor field effect transistors.

Referring to fig. 2, the redundant system of a motor sensor provided in this embodiment further includes a power supply controller module, where the power supply controller module includes a first power supply controller module and a second power supply controller module; the first power supply controller module comprises a first low-voltage power supply (12V), a first filtering unit HPF1(High Pass Filter, HPF) and a first power supply chip IC1(integrated Circuit, IC), wherein the first power supply chip IC1(integrated Circuit, IC) is connected to the first controller 1, and the first filtering unit HPF1(High Pass Filter, HPF) and the first power supply chip IC1(integrated Circuit, IC) are connected; the second power controller module includes a second low voltage power supply (12V), a second Filter unit HPF2(High Pass Filter, HPF) and a second power chip IC2(integrated circuit, IC), the second power chip IC2(integrated circuit, IC) is connected to the second controller 2, and the second Filter unit HPF2(High Pass Filter, HPF) and the second power chip IC2(integrated circuit, IC) are connected.

In addition, in the embodiment, the first filtering unit HPF1(High Pass Filter, HPF) may be further connected to the first pre-driver chip IR1(integrated circuit, IR), and the second filtering unit HPF2(High Pass Filter, HPF) may be further connected to the second pre-driver chip IR2(integrated circuit, IR). And the first power chip IC1(integrated circuit, IC) in this embodiment is connected to the motor sensor module 5.

Specifically, in the present embodiment, the filtering unit mainly filters the 12V low voltage power supply to deliver the 5V voltage to the power chip. The voltage filtered by the filtering unit is also transmitted to the pre-drive chips IR1 and IR 2; the motor drive bridges DA1, DA2, and the first phase line separation circuit PTR1 and the second phase line separation circuit PTR2 provide 5V to the above devices.

More specifically, referring to fig. 2, in the present embodiment, a first power chip IC1(integrated circuit) is also connected to the motor sensor module 5 to provide a voltage of 5V thereto.

Further, referring to fig. 2, the motor sensor redundancy system provided by the present embodiment further includes first torque sensor modules T1 and T2 and/or first angle sensor modules a1 and a2 connected to the first controller 1, wherein the first torque sensor modules T1 and T2 and the first angle sensor modules a1 and a2 are respectively connected to a first power chip IC1(integrated circuit); and second torque sensor modules T3, T4 and/or second angle sensor modules A3, a4 connected to the second controller 2, the second torque sensor modules T3, T4, the second angle sensor modules A3, a4 being connected to a second power chip IC2(integrated circuit, IC), respectively. The purpose of the power supply chip being connected to the respective torque sensor module and angle sensor module is also to provide a voltage of 5V.

The motor sensor redundancy system provided by the embodiment further comprises a first transceiver circuit RS1 and a first communication module CAN1 connected with the first controller 1, and a second transceiver circuit RS2 and a second communication module CAN2 connected with the second controller 2. The communication module and the transceiver circuit are used for external communication. The communication module is connected with external equipment, then the communication module transmits the acquired signals of the external equipment to the transceiver circuit, and the transceiver circuit transmits the signals to the corresponding controller.

It should be noted that, in this embodiment, the motor sensor module is only schematically connected to the first controller, and in fact, the motor sensor module may also be connected to the second controller module, and then the switching circuit module is connected to the first controller. The detailed control principle is not described herein.

According to the invention, by arranging two controllers which can respectively control the electric power steering system, when a circuit where the first controller is located breaks down or a motor sensor module fails, the connection between the second controller and one set of three-phase windings of the driving motor is disconnected, so that the second controller collects the counter electromotive force of the set of three-phase windings, acquires the position information of the motor rotor according to the counter electromotive force and transmits the position information to the first controller. Therefore, even if the motor sensor module fails, the first controller can control the driving motor, and the safety of the electric power steering system is improved.

By adopting the scheme, only two signal channels of the motor sensor module are respectively connected with the first controller and the second controller, and the second controller is connected to the driving motor through the switching control circuit, the control of the whole system can be realized only by one controller, the structure of the system is simplified, and the cost can be effectively reduced. In addition, the space in the vehicle can be saved by only providing one controller, and the problem of increased failure risk caused by the use of more connectors due to the provision of a plurality of channels can be avoided by replacing two channels connecting the driving motor and the second controller with a switching control circuit. Further, in designing the motor algorithm, it is not necessary to consider the phase differences existing between the plurality of controllers and the counter electromotive force of the motor, and the algorithm for controlling the motor can become simpler.

Based on the motor sensor redundancy system for the electric power steering system, the embodiment of the invention also provides a control method for the motor sensor redundancy system for the electric power steering system. The control method of the motor sensor redundancy system for an electric power steering system is applicable to the motor sensor redundancy system described in any of the above embodiments. As shown in fig. 5, a flow chart of a control method for a motor sensor redundancy system of an electric power steering system includes:

step S1: judging whether the electrical components of the redundant system of the motor sensor fail;

if yes, go to step S2: judging whether the motor sensor module fails or not;

if not, go to step S3: the first controller and the second controller jointly control the driving motor;

if the motor sensor module is not failed, executing step S4: opening the three-phase winding of the branch in which the failed electrical component is located;

if the motor sensor module fails, step S5 is executed: the second phase line separation circuit is disconnected, and the switching control circuit and the sampling circuit are closed;

step S6: the second controller acquires the position information of the driving motor according to the voltage information of one set of three-phase windings of the driving motor, which is acquired by the sampling circuit, and transmits the position information of the driving motor to the first controller, and the first controller controls the other set of three-phase windings of the driving motor according to the position information of the driving motor.

The specific control method has already been described in detail in the above-mentioned motor sensor redundancy system, and this embodiment is not described herein again.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.