# US 2021/0276613 A1 · Motor vehicle steering system with a control unit of redundant configuration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276613 A1 - Document ID: US20210276613A1 - Status: Published application - Kind: A1 - Application number: 17/252,448 - Filed: 2019-06-18 - Published: 2021-09-09 - Earliest claimed: 2018-06-20 - Assignees: Thyssenkrupp Presta AG; thyssenkrupp AG - Applicants: thyssenkrupp Presta AG; thyssenkrupp AG - Inventors: Adela BERES; Gergely HORVATH; Gergely FÜZES - Web page: https://patentgrep.com/patent/US20210276613A1 ## CPC - B62D 5/0484: {for reaction to failures, e.g. limp home} - B62D 5/0493: {detecting processor errors, e.g. plausibility of steering direction} - B62D 5/003: {Backup systems, e.g. for manual steering (B62D5/30 takes precedence)} - B62D 5/0403: {characterised by constructional features, e.g. common housing for motor and gear box} - B62D 5/046: {Controlling the motor} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 5/049: {detecting sensor failures} - H02K 7/108: with friction clutches - H02K 7/11: with dynamo-electric clutches - H02K 11/33: Drive circuits, e.g. power electronics (H02K11/38 takes precedence) - H02P 25/22: Multiple windings; Windings for more than three phases - H02P 29/028: the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault - H02K 2209/00: Specific aspects not provided for in the other groups of this subclass relating to systems for cooling or ventilating - H02K 2213/06: Machines characterised by the presence of fail safe, back up, redundant or other similar emergency arrangements - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract A redundant control device for a three-phase electric motor of a steering system of a motor vehicle, having a primary control path and a secondary control path. The primary control path has a primary processing unit, and the secondary control path has a secondary processing unit. The primary control path is connected to a first phase winding of the electric motor, and the secondary control path is connected to a second phase winding and a third phase winding for actuating the electric motor, wherein each phase winding is assigned an individual converter. ## Claims ### Claim at position 1 -20. (canceled) ### Claim 21 A redundant control device for a three-phase electric motor of a steering system of a motor vehicle, comprising: a primary control path comprising a primary processing unit, and a secondary control path comprising a secondary processing unit, wherein the primary control path is connected to a first phase winding of the electric motor, and the secondary control path is connected to a second and a third phase winding of the electric motor for actuating the electric motor, and wherein each phase winding is assigned an individual converter. ### Claim 22 (depends on 21) The redundant control device as claimed in claim 21 wherein the primary processing unit is configured to calculate a setpoint motor torque on the basis of a torque input into a steering wheel and further input variables, and to determine, by means of a primary motor regulating means on the basis of the setpoint motor torque, primary motor currents for operating the first phase winding and to pass them on to a primary converter of the individual converters. ### Claim 23 (depends on 22) The redundant control device of claim 22 wherein the further input variables comprise at least one of the following variables: vehicle velocity, instantaneous rotor position measured by means of a first rotor position sensor, and measured current values in the phase windings. ### Claim 24 (depends on 23) The redundant control device of claim 23 wherein the secondary processing unit is configured to calculate a setpoint motor torque on the basis of a torque input into a steering wheel and further input variables, and to determine, by means of a secondary motor regulating means on the basis of the setpoint motor torque, secondary motor currents for operating the second and third phase windings and to pass them on to two secondary converters of the individual converters. ### Claim 25 (depends on 24) The redundant control device of claim 24 wherein the further input variables comprise at least one of the following variables: vehicle velocity, instantaneous rotor position measured by means of a secondary rotor position sensor, and measured current values in the phase windings. ### Claim 26 (depends on 25) The redundant control device of claim 25 wherein signals from the primary and secondary rotor position sensors and/or the primary and secondary torque sensor units are respectively made available both to the primary processing unit and to the secondary processing unit. ### Claim 27 (depends on 24) The redundant control device of claim 24 further comprising a switch arranged between the primary processing unit and one of the secondary converters and which is configured to connect the primary processing unit to the secondary converter in the event of a fault in the secondary control path. ### Claim 28 (depends on 21) The redundant control device of claim 21 wherein the primary control path is connected to a primary motor vehicle bus, and the secondary control path is connected to a secondary motor vehicle bus which is separate from the primary motor vehicle bus. ### Claim 29 (depends on 21) The redundant control device of claim 21 wherein the primary control path and the secondary control path each have an external power supply. ### Claim 30 (depends on 21) The redundant control device of claim 21 wherein the primary processing unit is an MCU and the secondary processing unit is an MCU. ### Claim 31 (depends on 21) The redundant control device of claim 21 wherein the secondary processing unit is a main processing unit, and in the fault-free state of the control device is configured to calculate setpoint motor torques and their distribution along the three converters in order to actuate the three phase windings. ### Claim 32 An electromechanical steering system for a motor vehicle, comprising: a steering pinion connected to a lower steering shaft and is in engagement with a toothed rack, mounted so as to be displaceable along a longitudinal axis in a housing, in order to steer wheels of the motor vehicle, a three-phase electric motor configured to provide power steering assistance, two torque sensors which are arranged between an upper steering shaft, connected to a steering wheel, and the lower steering shaft, and which are configured to sense a torque input, and an electronic control unit for calculating the power steering assistance, which comprises a redundant control device, the control device comprising: a primary control path and a secondary control path, wherein the primary control path has a primary processing unit, and the secondary control path has a secondary processing unit, wherein the primary control path is connected to a first phase winding of the electric motor, and the secondary control path is connected to a second and a third phase winding of the electric motor for actuating the electric motor, and wherein each phase winding is assigned an individual converter. ### Claim 33 (depends on 21) A steer-by-wire steering system for motor vehicles having a steering actuator which works on steered wheels of the motor vehicle, the steering actuator configured to be electronically regulated as a function of a steering request and configured to act on the steered wheels by means of a steering gear, and a feedback actuator which is configured to transmit reactions of the road to a steering wheel, wherein the steering actuator is in communication with the redundant control device of claim 21. ### Claim 34 A method for providing a torque for a steering system of a motor vehicle, comprising a three-phase electric motor and an electronic control unit for calculating torque which is to be applied by the electric motor, wherein the electronic control unit comprises a redundant control device comprising a primary control path and a secondary control path, wherein the primary control path has a primary processing unit, and the secondary control path has a secondary processing unit, wherein the primary control path is connected to a first phase winding of the electric motor, and the secondary control path is connected to a second and a third phase winding of the electric motor for actuating the electric motor, and wherein each phase winding is assigned an individual converter, the method comprising: calculating, via the secondary processing unit, setpoint motor torques for actuating all the three phase windings, passing on the calculated setpoint motor torques to a primary motor regulating means of the primary processing unit, determining primary motor currents to operate the first phase winding in the primary motor regulating means, determining secondary motor currents to operate the second and third phase windings in a secondary motor regulating means of the secondary processing unit, and switching off, when a fault state is detected in one of the control paths, the power steering assistance of the control path with the detected fault state. ### Claim 35 (depends on 34) The method of claim 34 further comprising: detecting a fault in the secondary control path, and calculating a setpoint motor torque for actuating the primary phase windings in the primary processing unit. ### Claim 36 (depends on 34) The method of claim 34 wherein the secondary processing unit calculates the setpoint motor torques on the basis of a torque input into a steering wheel and further input variables. ### Claim 37 (depends on 36) The method of claim 36 wherein the further input variables comprise at least one of the following: vehicle velocity, instantaneous rotor position measured by means of rotor position sensors, and measured current values in the phase windings. ### Claim 38 (depends on 37) The method of claim 37 wherein signals from the position sensors and/or of primary and secondary torque sensor units are each available both to the primary processing unit and to the secondary processing unit. ### Claim 39 (depends on 34) The method of claim 34 wherein the primary control path receives data from a primary motor vehicle bus, and the secondary control path receives data from a secondary motor vehicle bus which is separate from the primary motor vehicle bus. ### Claim 40 (depends on 34) The method of claim 34 wherein the primary control path and the secondary control path are each connected to an external power supply. ### Claim 41 (depends on 34) The method of claim 34 wherein the primary processing unit is an MCU and the secondary processing unit is an MCU.