CN107921994B - Device for operating a power steering system and power steering system - Google Patents
Device for operating a power steering system and power steering system Download PDFInfo
- Publication number
- CN107921994B CN107921994B CN201680052004.1A CN201680052004A CN107921994B CN 107921994 B CN107921994 B CN 107921994B CN 201680052004 A CN201680052004 A CN 201680052004A CN 107921994 B CN107921994 B CN 107921994B
- Authority
- CN
- China
- Prior art keywords
- control unit
- monitoring
- unit
- electric motor
- steering system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
- B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a device for operating a power steering system (1) having at least one electric motor (10) for generating a supporting motor steering torque for swiveling at least one steerable wheel (2) of a vehicle, having two electronic systems (15, 16) which are designed at least substantially redundantly with respect to one another and are used for controlling the electric motor (10), each having a control unit (17, 18) and a monitoring unit (19, 20) which is connected to the control unit and is used for monitoring the assigned control unit (17, 18) and, if necessary, deactivating it. It is proposed that the monitoring unit (19, 20) of at least one of the electronic systems (15, 16) is additionally connected to the control unit (18, 17) of another of the electronic systems (16, 15).
Description
Technical Field
The invention relates to a device for operating a power steering system having at least one electric motor for generating a supporting motor steering torque for swiveling steerable wheels of a vehicle, having a first electronic system and having a second electronic system which is at least substantially redundant with respect to the first electronic system for controlling the electric motor, wherein each of the electronic systems has a control unit and a monitoring unit which is connected to the control unit for monitoring the associated control unit and deactivating it as required.
The invention further relates to a servo steering system for a vehicle, in particular a motor vehicle, having at least one electric motor for generating a supporting motor steering torque for swiveling at least one steerable wheel of the vehicle, and to a method for operating such a servo steering system.
Background
Devices and power steering systems of the type mentioned at the outset are known from the prior art. A servo steering system having an electric motor for generating an electric auxiliary motor steering torque has a control unit which detects current state data, processes the detected data and outputs control data as a function of the detected data. The motor control device thus has a path of the sensor device, the processing device and the output device. In the event of a fault in this action chain, the electronic system, in particular the output mechanism of the electronic system, is deactivated. For this purpose, a monitoring unit is usually provided, which monitors a control unit, which processes the detected data and generates control signals for the electric motor, in particular for the power electronics of the electric motor. The monitoring unit is designed to deactivate the control unit if required. In particular, it is known that the monitoring unit merely deactivates the output means of the control signal and otherwise does not influence the operation of the control unit.
In order to improve the usability of the control mechanism and to meet the current market demands, servo steering systems with redundant electronic systems for controlling the electric motor are to be developed. The control device then has a first electronic system and a second electronic system which are designed to be at least substantially redundant with respect to one another and accordingly comprises a control unit and a monitoring unit which operate as described above. The electronic systems are at least substantially independent of one another. If the monitoring unit detects a fault in the own electronic system or in/at the control unit associated therewith, the monitoring unit deactivates at least the output of the control signal of the control unit of this own electronic system and the remaining electronic system assumes the output of the control signal for operating the electric motor in emergency operation or in degraded mode.
Disclosure of Invention
The object of the invention is to provide a device, a servo steering system and a method which make it possible to: the control unit can distinguish between different fault situations in order to ensure advantageous continued operation of the servo steering system.
The object of the invention is achieved by a device. Such a device has the following advantages: wherein the control unit of one electronic system gets information about whether the control unit of the other electronic system is deactivated. This provides the control unit with information which makes it possible to unambiguously determine whether the control unit of the further electronic system is switched off and thus whether further operation of the electric motor should/must be undertaken by the remaining control units. For this purpose, it is provided according to the invention that at least one monitoring unit of one of the electronic systems is additionally connected to a control unit of the other electronic system. This can be achieved by: the monitoring unit, which determines a fault in the control unit of the own electronic system, not only deactivates the own control unit, but also notifies the other control unit of information about the deactivation.
According to a preferred further development of the invention, it is provided that the two monitoring units, i.e. each of the two electronic systems, are connected to a control unit of the respective other electronic system. This enables a cross-connection by which the control unit of one electronic system is always informed of the status of the control unit of the other electronic system. In this way, each control unit can reliably determine the operating state of the other control unit and, in the event of failure of one of the control units, can carry out an advantageous emergency operation of the electric motor. The control unit is preferably configured as a monitor.
The control units themselves are preferably connected to one another via a communication interface or communication channel for exchanging information with one another. Thus, the control units can also directly monitor each other. However, if one of the control units malfunctions, it is not possible for the other control unit to determine whether the cause of the malfunction is that the communication channel between the control units is defective, that the electronic system with the other control unit malfunctions or is deactivated. This is achieved here by the described embodiment according to the invention: due to the transverse connection of the monitoring unit and the control units, it can be unambiguously determined whether the communication connection between the control units has failed or one of the control units is defective or deactivated.
Furthermore, it is preferably provided that each monitoring unit has a diagnostic output which is connected to the control unit of the respective other electronic system. The diagnostic output informs the control unit of the other electronic system of the diagnostic state of the electronic system itself, so that the control unit of the respective other electronic system always knows the operating state or the functional capability of the control unit of one of the electronic systems and can react accordingly. The diagnostic states acquired by the respective monitoring unit with respect to the associated control unit can also be exchanged via the communication protocol.
In addition or alternatively, it is preferably provided that each monitoring unit of one of the electronic systems has a deactivation output which is connected to the control unit of the respective other electronic system. The deactivation output is usually connected only to the control output of the own control unit in such a way that, if necessary, the output of the control signal by the control unit can be prevented by the monitoring unit. It is provided that the deactivation output is additionally connected from now on to the control unit of the respective other electronic system, so that the control unit of the other electronic system obtains information whether the signal output of the control unit of the first-mentioned electronic system is deactivated. This means that the target operating state of one of the control units is communicated to the other control unit and advantageous measures can be taken for emergency operation.
The servo steering system according to the invention is characterized by the device according to the invention. This results in the already mentioned advantages. Further advantages and preferred features derive in particular from the description made above and from the preferred embodiments.
The method according to the invention is characterized in that the monitoring unit of at least one of the electronic systems additionally transmits at least one piece of information about the operating state and/or deactivation of the assigned control unit of one of the electronic systems to the control unit of the respective other electronic system. This results in the already mentioned advantages. Further advantages and preferred features derive in particular from the description made above and from the preferred embodiments.
Drawings
The invention and its advantages are explained in more detail below with the aid of an exemplary embodiment. Therefore, the method comprises the following steps:
FIG. 1 shows a servo steering system in a simplified illustration; and is
Fig. 2 shows a device for operating the servo steering system.
Detailed Description
Fig. 1 shows a simplified illustration of a servo steering system 1 for two steerable wheels 2 of an axle of a motor vehicle, which is not shown in detail here. The wheels 2 are each mounted on the motor vehicle so as to be able to pivot via a wheel suspension 3. Each of the wheels is also connected to a steering gear 5 via a respective connecting rod 4. The steering gear 5 has a toothed rack 6, which is coupled at both ends thereof to one of the connecting rods 4. A pinion 7 is engaged with the rack 6, which pinion is connected in a rotationally fixed manner to a steering rod 8, which furthermore supports a steering handle 9 in the form of a steering wheel that can be used by the driver. Once the driver sets the manual torque M as indicated by the double arrowHApplied to the steering handle 9, he turns the steering direct lever 8 by an angle α and thus the pinion 7 with a sufficiently high manual torque, thereby moving the rack 6 of the steering gear 5 and swinging the wheels 2 by a steering angle β corresponding to the gear ratio.
The power steering system 1 is designed as an electric power steering system 1 and has an electric motor 10, the rotor of which is operatively connected to the steering drag link 8. The electric motor 10 has power electronics 11, which are controlled by a controller 12 for operating the electric motor 10. In addition, the control unit 12 detects data or output signals of a torque sensor 13, which is assigned to the steering linkage 8, for example, for detecting a manual torque M applied by the driver to the steering wheelHOr the controller detects data or output signals of a rotation angle sensor 14, in particular associated with the electric motor 10. Based on the detected manual torque MHThe controller 12 controls the electric motor 10 via the power electronics 11 for generating a motor torque MMThe motor torque is transmitted directly or via a gear train to the steering direct lever 8 and is thus superimposed on the manual torque. The method implemented by the control unit 12 thus makes it easier for the driver to drive the motor vehicle with the servo steering system 1.
The construction of the servo steering system 1 described here should be understood purely exemplary. The sensors 13, 14 and the electric motor 10 can also be arranged or connected at other locations of the power steering system 1.
Fig. 2 shows a simplified detailed view of the control unit 12, which represents the device for operating the servo steering system 1.
The controller 12 has two redundant electronic systems 15 and 16, which are each marked by a dashed box. Each of the electronic systems 15, 16 has a control unit 17 or 18, in particular a logic unit, a monitoring unit 19 or 20, and an output unit 21, 22.
In normal operation, the control units 17, 18 acquire control parameters for operating the electric motor 10 according to a target specification, for example according to a manual steering torque applied to the steering handle 9 by the driver. These control parameters are supplied to the output unit 21 or 22, which supplies the control signals determined in this way, for example, to the power electronics 11.
The monitoring units 19, 20 monitor the functional capabilities of the associated control units 17, 18. If one of the monitoring units 19, 20, which is in particular designed as a monitor, detects a malfunction of one of the control units 17, 18, the respective monitoring unit 19, 20 controls an output unit 21, 22 from the same electronic system 15, 16 for deactivating the output means of the control signal. For this purpose, the monitoring units 19, 20 are connected to the output unit 21 or 22 via connecting lines 23, 24, respectively.
The control units 17 and 18 are also connected to one another for the purpose of exchanging information, for which purpose, for example, a communication channel K is provided, as outlined by the double arrow. Via this communication channel K, the control units 17, 18 can monitor the operating state of the respective other control unit 18, 17, for example.
In the event that one of the monitoring units 19, 20 detects a fault situation of the control unit 17, 18 assigned to it of the same electronic system 15 or 16, either the output means 21, 22 or the respective control unit 17, 18 itself is deactivated. Due to the communication channel K between the control units 17 and 18, the remaining control units 17, 18 are then unable to determine whether the deactivated control unit 18, 17 is actually deactivated or whether there is a fault in the communication connection or in the communication channel K.
It is therefore provided here that the respective monitoring unit 19, 20 is also connected to the control unit 18, 17 of the respective other electronic system 16, 15. The monitoring unit 19 is therefore connected not only to the control unit 17 of the own electronic system 15 but also to the control unit 18 of the further electronic system 16. In particular, the monitoring unit 19 has for this purpose a deactivation output 25 which is connected on the one hand to the output unit 21 and on the other hand to the control unit 18. As a result, the control unit 18 likewise receives information about whether the output of the control signal is deactivated in the first electronic system 15, and can accordingly continue the operation of the electric motor 10. Similarly, the monitoring unit 20 has a deactivation output 26, which is connected to the output unit 22 and to the control unit 17.
Alternatively or additionally, it is provided that the monitoring unit 19 has a diagnostic output 27, which provides the result of the functional check of the control unit 17 and supplies it to the logic unit 18. Accordingly, the monitoring unit 20 also has a diagnostic output 28, which is connected to the control unit 17. The control units 17, 18 thus receive the result of the functional monitoring of the monitoring unit 20 or 19 for detecting a diagnostic or operating state of the respective other control unit 18, 17. This is achieved by the cross-coupling of the control units 17, 18 to the monitoring units 19, 20, which reliably excludes faulty communication channels themselves in the event of a failure of the communication channel K between the control units 17 and 18. Thereby increasing the robustness of the controller 12 against faults.
Claims (7)
1. Device for operating a power steering system (1) having at least one electric motor (10) for generating a supporting motor steering torque for swiveling at least one steerable wheel (2) of a vehicle, having two electronic systems (15, 16) which are designed to be redundant with respect to one another and are used for actuating the electric motor (10), each having a control unit (17, 18) and a monitoring unit (19, 20) which is connected to the control unit and is used for monitoring the assigned control unit (17, 18) and optionally deactivating it, wherein the monitoring unit (19, 20) of at least one of the electronic systems (15, 16) is additionally connected to the control unit (18) of the other of the electronic systems (16, 15), 17) -connected, characterized in that each monitoring unit (19, 20) has a deactivation output (25, 26) connected to the control unit (18, 17) of the respective other electronic system (16, 15).
2. Device according to claim 1, characterized in that the control units (17, 18) are connected to each other for the exchange of information.
3. The device as claimed in claim 1 or 2, characterized in that each monitoring unit (19, 20) has a diagnostic output (27, 28) which is connected to the control unit (18, 17) of the respective other electronic system (16, 15).
4. The device as claimed in claim 1 or 2, characterized in that the device is designed as a control unit (12).
5. A servo steering system (1) for a vehicle, having at least one electric motor (10) for generating a supporting motor steering torque for swinging at least one steerable wheel (2) of the vehicle, characterized in that the servo steering system comprises a device according to any one of claims 1 to 4.
6. Servo steering system (1) according to claim 5, characterized in that the vehicle is a motor vehicle.
7. Method for operating a power steering system (1) according to claim 5, having at least one electric motor (10) for generating a supporting motor steering torque for swiveling at least one steerable wheel (2) of a vehicle, and having a device with two electronic systems (15, 16) which are designed to be redundant with respect to one another for controlling the electric motor (10), wherein each of the electronic systems (15, 16) has a control unit (17, 18) and a monitoring unit (19, 20) which is connected to the control unit for monitoring the assigned control unit (17, 18) and, if necessary, deactivating it, characterized in that the monitoring unit (19, 20) of at least one of the electronic systems (15, 16), 20) At least one piece of information about the operating state and/or deactivation of the assigned control unit (17, 18) of one of the electronic systems (15, 16) is additionally transmitted to the control unit (18, 17) of the respective other electronic system (16, 15).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015115123.5 | 2015-09-09 | ||
| DE102015115123.5A DE102015115123A1 (en) | 2015-09-09 | 2015-09-09 | Device for operating a power steering system, power steering system |
| PCT/EP2016/069575 WO2017042010A1 (en) | 2015-09-09 | 2016-08-18 | Device for operating a servo steering system, and servo steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107921994A CN107921994A (en) | 2018-04-17 |
| CN107921994B true CN107921994B (en) | 2020-01-17 |
Family
ID=56740232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680052004.1A Active CN107921994B (en) | 2015-09-09 | 2016-08-18 | Device for operating a power steering system and power steering system |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107921994B (en) |
| DE (1) | DE102015115123A1 (en) |
| WO (1) | WO2017042010A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017218395A1 (en) | 2016-10-19 | 2018-04-19 | Bayerische Motoren Werke Aktiengesellschaft | Method for fault-tolerant control of highly automated vehicles |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0796388B2 (en) * | 1987-04-13 | 1995-10-18 | 株式会社日立製作所 | Electric power steering device |
| JPH0776282A (en) * | 1993-01-13 | 1995-03-20 | Aisin Seiki Co Ltd | Rear wheel steering device |
| DE10157666A1 (en) * | 2001-11-24 | 2003-06-05 | Zf Lenksysteme Gmbh | Vehicle steering system, has two actuator motors providing supporting steering torque on steering column with control-regulating units for controlling function/configuration of entire system |
| JP4521258B2 (en) * | 2004-01-28 | 2010-08-11 | 日立オートモティブシステムズ株式会社 | Resolver / digital converter and control system using the same |
| JP3889758B2 (en) * | 2004-09-10 | 2007-03-07 | 三菱電機株式会社 | Steering control device |
| JP5563077B2 (en) * | 2010-06-18 | 2014-07-30 | 日立オートモティブシステムズ株式会社 | Electronic control unit |
| CN102582677B (en) * | 2011-01-06 | 2014-10-22 | 联创汽车电子有限公司 | Electric power-assisted steering system |
| JP5816019B2 (en) * | 2011-07-29 | 2015-11-17 | Ntn株式会社 | Control device for steer-by-wire steering system with redundancy function |
-
2015
- 2015-09-09 DE DE102015115123.5A patent/DE102015115123A1/en active Pending
-
2016
- 2016-08-18 CN CN201680052004.1A patent/CN107921994B/en active Active
- 2016-08-18 WO PCT/EP2016/069575 patent/WO2017042010A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017042010A1 (en) | 2017-03-16 |
| DE102015115123A1 (en) | 2017-03-09 |
| CN107921994A (en) | 2018-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12005975B2 (en) | Method for providing steering assistance for an electromechanical steering system of a motor vehicle comprising a redundantly designed control device | |
| CN109478858B (en) | Motor control device and electric power steering device | |
| US6820715B2 (en) | Electrical steering for vehicle, with triple redundancy | |
| US20200010094A1 (en) | Vehicle control device | |
| CN112334376B (en) | Steer-by-wire architecture with second steering angle sensor | |
| CN114026010B (en) | Steering control device and steering assist system including the same | |
| JP2018529581A (en) | Method for operating an automotive steering system | |
| KR20120065353A (en) | Fail operational steering system for autonomous driving | |
| WO2020095752A1 (en) | Steering apparatus | |
| KR20200122247A (en) | Steering control system | |
| EP3369644A1 (en) | Sensor device and electric power steering device | |
| JP6282452B2 (en) | Vehicle steering control device | |
| JP5239245B2 (en) | Vehicle steering control device | |
| WO2020149035A1 (en) | Vehicle-mounted equipment control device | |
| CN107921994B (en) | Device for operating a power steering system and power steering system | |
| JP2021070440A (en) | Motor drive system | |
| JP4382345B2 (en) | Vehicle steering system | |
| US11104378B2 (en) | Steering control system for a steering system of a transportation vehicle and method for operating a steering control system | |
| KR20170065430A (en) | Apparatus for complex sensing | |
| CN117980217A (en) | Drive-by-wire steering system for road vehicles with external steering wheel angle sensor | |
| JP6717104B2 (en) | Electronic control unit | |
| JP7510308B2 (en) | Rudder System | |
| JP2014221589A (en) | Vehicle steering controller and vehicle steering control method | |
| JP6313060B2 (en) | Steer-by-wire steering device | |
| US20240253694A1 (en) | Steer-by-wire apparatus of host vehicle and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |