Steer-by-wire device with full redundancy function and control method

The invention discloses a steer-by-wire device with a full redundancy function and a control method, and the main design concept is that the steer-by-wire device with the full redundancy function obtains four paths of redundant torque signals and two paths of redundant steering angle signals through a torque steering angle sensor on a steering wheel; two paths of redundant rotation angle signals are obtained by a rotation angle sensor on a gear shaft so as to obtain accurate torque rotation angle information; besides, a road feeling motor and a steering motor both adopt double three-phase permanent magnet synchronous motors, and a road feeling motor controller and a steering motor controller both adopt a double-control-unit framework and a redundancy communication mechanism, so that through the detailed redundancy design in the three aspects, when three phases cannot work due to drive-by-wire single-point failure, the control-by-wire single-point failure can be ensured, and the control-by-wire single-point fa