How a Tesla self drives - Belt driven steering rack
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- Опубликовано: 9 авг 2020
- In this video we take apart a Tesla model 3 steering rack and show you how the self driving steering works! Here you can see the belt driven lead screw and backup electrical system.
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These videos are amazing! A First time look into the Tesla inner workings up close.
Sandy did a high overview, they are doing nitty-gritty. Love it
I love how in the motor tear down video someone said you guys needed personal mics, and that's exactly what you guys did. Goes to show you guys actually care about your viewers. Hoping to see more from you guys!
We definitely care! as we educate and try to provide material that people find helpful, constructive criticism helps us better the material!
Most modern cars have electric power steering and utilize a similar setup, including most, if not all of the electronics shown, especially if they have drivers assist features such as lane keep assist or auto-parking. There are two main styles used, the rack mounted motor that you have shown and a column mounted motor that the Leaf uses. The motor on the Leaf will have many similar components as the steering assist motor Model 3, especially if it has the above mentioned features, as there are only a few suppliers that manufacture steering systems. Those components would just be integral to the column/assist motor assembly instead of mounted to the rack. The rack for Autopilot equipped cars isn’t anything cutting edge, it simply receives commands from other vehicle systems telling it when to turn, which way, and the rate of steering input needed when Autopilot is engaged. While the rack itself is nothing special or advanced when compared to the competition, Autopilot is pretty impressive.
Audio quality now is excellent! I really enjoy this kind of videos, good job!!
Video deserves millions view..
What really amaze me is how a human brain can make such technologies possible!!
This channel is severely underrated. Keep up the good work! 😄
Wanted to thank you for this video. I have a model 3 with 150k miles on it and my rack just started sticking. After watching your video and another on how to pull it I decided to do it myself and completely take it apart and re grease it all and it worked perfect. No more issues. Ty so much.
Did you make a video out of it?
@@ChrisGageTX no I did not but it's the same as the two videos I watched, just used this one to see what to expect when I take it apart and the other to see how to take it out
@@danieljw1985 Did you find dried up grease or anything like that? I want to grease mine but don't know how far I have to dig in to get those little bearings greased.
Hell yeah I wanted to see this for no reason other than curiosity. Thanks.
You are a very good narrator: hit the key points, mechanically intelligent, talk through the steps and hardly any wasted communication, and the camera work is good, too.
Interestingly designed component; setting the standard for coming automotive engineering. Not sure why Tesla discourages fixing things yourself, since it it very straight forward to work on, and logically put together. Btw: audio was way better than the Tesla motor so doing it right. The new thumbnail format is a good signature to differentiate yourself in a recognizable way from the rest of the video zoo.
Thanks very much for the feedback. Muchly Appreciated
Amazing cars, and the take apart steering rack and show us how is works that's awesome, wonderful job guys
An important element of the ball screw and the belt drive is that there is no drive Line lash or free play in the system. That is important for smooth steering by computer. In my old cars I have to compensate for free play in the steering by steering with fingertips and pushing against the free play. Efficiency in the classic sense is not that important since a lot of power would not be wasted here anyway.
Excellent informative video... THANKS!
Amazing!! Power steering redundancy in a model 3! Only one acas sensor in a Model 737Max!!!
So true; AOA sensor for the MCAS system by the way!! 😅
You are more relax... now. good job.
Its not a sensorless motor. The ship above the shaft does the angle and hall sensing. The shaft has a diametrically magnetized field.
That’s probably why the chips on the board aren’t symetrical, both need the correct corner of the chip to sense that hall sensor
Sound is much better, well done guys, I've subscribed.
Another great teardown! The sound is better, but I think its level was too high somewhere on its journey.. I suggest googling "gain structure" :) the Sweetwater article is a good summary. If you want it to sound 'loud' but not distorted, you may wish to dive into the rabbit hole that is "dynamic range compression" (just don't overdo it haha)
Thanks for the excellent videos, really interesting and well-presented. Looking forward to the next!
very nice explanation...nice work
Glad you liked it
Brilliant teardown of the Tesla Steering Rack. My M3 is currently in getting this replaced, due to corrosion. It was really interesting to see how this looks and works. Also want to shout out and recognise the work that must have went into preparing the teardown, as it must have already been taken apart and reassembled prior to filming.
This is really nicely presented and very interesting.
You're really good at explaining things. Wish I could learn from someone like you
Quality content for hundred percent.....
This channel is pretty amazing and technically useful. Glad I discovered it.
Awesome teardown!
Guys, amazing production! Great detail and efficient presentation. Whoever edits the videos is also doing a great job. Keep it up, your on your way to become a Tesla tech giant on RUclips
Much appreciated! Stay tuned for more!
True, waiting for more videos
Hi, great video. It would be nice to have an electronics expert do a detailed tear down of the controller and its architecture.
Great idea! We will look into it.
@@AllEVCanada I am happy to offer my services free of charge for this kind of thing. (10 years+ experience embedded systems EE)
@@AllEVCanada if you can, please share high resolution photos of every part
love your videos. keep up the good work
Glad you like them!
wow....would hate to be attempting to compete against these guys
New favorite channel.
Thanks, nicely explained.
Knowledge based video Thanks
Awesome videos! Keep up the good work!
Great video ! Thanks for sharing.
Thanks for watching!
Thank you and greetings from Germany
Welcome!
Very interesting thanks. Keep up the great job.
Your videos are awesome bro
Very interesting! Thanks. I wonder what voltage the drive motor is operating at? 360VDC or 12Vdc?.. that little motor could be interesting for small ev projects like electric bikes. I see from the PCB side of the drive that the motor shaft have a magnet on the end. it is probablt working with a SIN/COS encoder chip on the PCB. Doctorbass, Quebec city
Thanks for the comment. It is low voltage. The end is magnetic.
Yes automotive electric steeringracks have been commonly known to use field oriented control to reduce torque ripple which can be felt through the steering wheel otherwise. It makes perfect sense for them to use a magnetic angle IC to get accurate motor position used for proper FOC
Nice! Interesting, well filmed, good audio. 👍
Glad you enjoyed it!
@@AllEVCanada I have moaned about other videos of yours so I figured I ought not to keep quiet when I have nothing to complain. 😊
great videos very informative can't wait to see more
Thanks for watching!
Dobra robota. Dzięki. Pozdrawiam.
Awesome content! 👌👌
nice work
people complaining about belted have never heard of a serpentine "belt" in a combustion engine before.
That you will change regularly... because belt gets old.
@@Xanthopteryx regulary every 90,000 miles...
The Jaguar rack used in the S and X has a similar motor / belt setup.
congra..... You have pass 1000 subcribers.
You're better teacher
Thanks
Thank you!
ty
Solid dude job! Sub and thumbs up!!!
Thanks bro
nice video. I am interested in how torque sensor works, I mean the signals. Are they analogue? Where can I find a pinout?
Neat video. It's not the kind of peek-a-boo you'd want to do on your own Tesla just out of curiosity. But can you remove a heat shrunk part like the belt gear? I did this once with a cheap spade bit and a length of 3/8 all-thread to make a good extended drill bit for running electrical flex down through fire blocking. As you know you heat up the outside which expands, hammer it over the shaft and as it cools it shrinks and, it's better than welding. However it was my understanding that if you try to reverse the process by heating up the outside, because it is in contact with the shaft, they both heat up at the same rate, both expand at the same rate, and they'll never come apart.
Do you know that you can reverse the process? Thanks.
Hi, excellente job! My steering rack module had water ingress in the positive terminal and the corrosion broked it...i need to replace de terminal and i can't desolder ther 3 pin to the motor or the terminal itself. could you tell us the tecnik and and produts that you used to remove the solder? thanks!
Bravo
What happens if the driver overrules the self driving. Belt slip? Or torque sensor?
Excellent video. Does anyone know how driver input override works?
would be good to see how the ballnut is mounted to the housing, so it does not move back and forth, there must be some another bearing for it, that keeps a nut in place and same time allows to rotate
Will the human torque input always override the electric motors?
hmmmm, my confidence in self driving is lowered due to thin-ass belt.
"...you take what you want from that" Ha!
The way I see it is that we run belts for like 100k for timing belts. These run non stop at high speeds which would see more wear and tear then the slower movement of the steering belt
It’s not exposed to the elements so would likely last the life of the car.
@9to5aintlife And if it did fail the life of the owner could be severely shortened. Just kidding, I'm sure some very loud warning would go off if the belt broke. Wouldn't it ?
I'm curious about how much force could be transferred from the wheels to that belt before other parts of the suspension start to break. Or what if the car decided to kill all humans and you were fighting it via the steering wheel - who would win??
@@terrysullivan1992 the controller would be able to see belt wear... Teeth would begin to skip at least a few revolutions before breaking, and I assume as soon as that happens (commanded position deviates at all from actual) alarm bells would start to ring and the driver would aim for the shoulder, wether self driving or manual.
This is a standard Bosch EPS unit found on many vehicles.
Is it? we cant find anthing that says so
@@AllEVCanada Check out Bosch's product page for comparison.
@@ytxstream We did and none of them look the same. What model are you refering to?
@@AllEVCanada I believe the call it EPSapa
Classic Canadian style mech; great at taking things apart, not so much at putting together. That steering rack has so many failure points, these Tesla’s will not last even 10 years without massive repair bills.
How does the rack slide through that large steering motor pulley when you are just driving the car manually? Or is it back driving that motor?
THAT is what I'm looking for and I still don't understand it
I'm trying to use this in a project and I can't find the pinout, any chance you can tell me which connector is positive and which is ground? It doesn't seem to be chassis grounded.
so when that belt breaks or slip you lose control ?
Come on Tesla.... really a thin rubber belt? Lol. I would have thought such an important component would have been a metal chain. I hope they did a lot of durability testing on that thing. When I get my Cybertruck hopefully it’ll be upgraded.
I think you can assume that the best is very very strong and more than capable of outlasting the life of the other car components.
Belt technology is more advanced than most think.
a timing belt in a 1990 SV21 Camry lasts 100k kms plus withstanding constant speeds from 600rpm to 6000rpm in a hot environment. the failure rate of those was very very low.
The belt in this little unit would probably be able to last beyond the drive motor or the ball nut screw drive mechanism.
It probably has carbon fibre or kevlar, or some other exotic fibre reinforcement.
Thank you for giving us a look behind Elon’s tech curtain. This tech really is awe inspiring, and your ability to bravely go forth where no manual exists is laudable. Geesh, even contemplating trying this would scare the heck out of me. With every moment of opening up another section I would be secretly scolding myself saying, “there goes my $65,000 down the drain”!
Looking at this video, I wish the Model 3 radius circle was improved. Often when I have to make a U-Turn in a street,
I need to make a complicated K-Turn while many cars would be able to turn around by just turning the wheels all the way.
Great break down on that steering system
I would bet that Elon loves you as much as Rich 😇
Rock on dude ..
Is that belt for the life time of car or would that be a maintenance or wear item?
to take pinion out just loosen yoke and pinion will slip out, no need to beat it
Every other electric power steering system that I have come across combine the torque sensor with the motor into one unit on the input shaft. I don't see why this design would be considered as it appears to be less mechanically efficient.
This right here is probably the most common EPS unit in the world. Made by Bosch. I don't like the belt driven design.
Very good question. Perhaps the other design reqires a planetary gear set and that is unwanted. Or maybe using a ball screw is a more efficient method of power transmission compared to a rack and pinion.
So how the autopilot activates/deactivates the mechanical steering?
Due to semiconductor shortage there are rumors, that the redundancy of steering control has been taken away from some of Model Ys that are coming from China. Do you think Level 5 FSD wouldn’t be achievable without it?
Is their any training course or session??
Is this compatible to gen1 Tesla?
These Tesla dissection videos, this one shows a "rubber" belt. This makes me curious if a Tesla can really go half a million miles, without that belt breaking down?
Lapel mic! Yay! :)
Hi Nice Bruo
What concerns me is that rubber belt that'd probably be the first thing to go why not a chain
Now I know why it run in auto pilot
ac 3phase cotroler inverter and throtel for bike
I assume this unit is also the power steering as well. So no more power steering fluid ?
yup!
@@AllEVCanada yeah, my 2014 hyundai accent has electric power steering.
@@graenicholls4657 It is very common these days. Does your car have lane keeping abilities?
@@AllEVCanada LOL, no. Was just refering to "no more power steering fluid" being commonplace, not the design of said units nor capability.
I should be more explicit in my comments.
although, if I am on a nice bit of highway with no camber or corner it will self drive...dead ahead LOL
(joke)
@@AllEVCanada GREAT video, by the way.
I can’t believe it’s not chain driven it seems like something that will need replacing and a painful job I wonder if they designed it like this so that when the belt gets changed they can update the part to new revisions given the technology is a bit experimental
Redundancy:. Can you see the connections? If the electronic drive is redundant, maybe there is a dual set of coils in the motor so the actual motor is also redundant?
Sorry, looked at the video again. there are only three contacts for the motor, so the windings are NOT redundant..... maybe there are parellel windings inside, but not a completely redundant system as I may have though. I guess if there is not risk of thermal stress, they figured that there wasn't a point to redundant coils.
BTW this is old technolgy belt drive system.
What happens when the eps motor stops working during self driving?
The driver takes control with the rack and pinion input.
What happened if the belt breaks
No new videos these days; hope you are safe & well 🤔🤞
What's up Matt Demon
Thanks now I don't have to take mine apart to see how it works
В электро двигателе усилителя рулевого механизма наверное стоит муфта !?
Extremely interesting from a machinery safety point of view. One belt would never be allowed for something safety depend in other machinery. Yet it is in a Tesla... very interesting indeed. IMO this confirms the cars can never be self driving, at best a Tesla Model 3 will simply be auto pilot and will alarm the driver if a malfunction occurs.
Will be very interesting to see if this part changes in the future.
There are plenty of single point failures in commerical airliners, they just have good statistics on how the parts wear, so that they can be replaced during maintenance, and good QC on the part manufacturing. Combine this with simple measures to detect belt wear, and I think this is a non-issue.
@@kschleic9053 Name a few?
@@mrwizard233 I talked about single point failure components on an air plane. Name a few? Critical ones.
@@mrwizard233 So, you are talking about the engine, that goes through really advanced maintenance with ultra high super precision on an airplane that has more than one engine and can both take off and fly and land without problem even due to one engine broken? And a catastrophic so bad that the airplane can not land safely is so extremely rare so it is ridiculous. And then you compare that to a belt made out of material that will age in heat and cold, that has no maintenance, done what so ever, has no redundancy at all and in a futuristic self driving future will lead to a crash, maybe involving several other people?
And landing gear - there are several redundant systems for the landing gear, and even if all of those fail you have a plane constructed to be able to belly land or land on the other landing gears that still work?
Yes, the Boeing sensor was one that might classify, but not entirely. One problem added to that was the lack of education of the pilots. You see, the pilots are always standing by to take over and take proper actions so if they were trained properly, this probably would not have happened. In fact, it was three stages that failed (so, not one single point here): Maintenance, pilot education and the AOA system).
Under normal circumstances, flying is incredible safe, just because of all the redundancy there is. Flight computers are redundant (so in fact as an example, on large airliners, there are at least three different computers, constructed by three different teams, and programmed by three different teams, to avoid a single point of failure like construction fault and the plane can fly with one computer down).
Even your car have somewhat redundant brake system with two brake lines. And, you have the parking brake as a third option. And if the hydraulic pump goes, you can still brake (even if it is pretty tough).
And the steering wheel, the same: If power steering fail, you still can turn the wheels.
But, now on a Tesla, if the car is driving by itself, without you watching and being prepared to take over, you have a critical one single point of failure. If the rubbery belt goes... the car goes. In fact, if the 12V battery goes, the entire car will just abruptly shut down because of lack of power and... since you do not have the same as on trucks, where the brakes are actively released (instead of actively applied like on cars), you are in a pretty nice trouble.And they have other SPOF that prevents them from being fully self derivable, Level 5 (or even Level 4) but that is another debate.
One thing i still can not understand is, why a belt? Why not a planetary gear or a worm gear or just another type of mechanical connection?
Belt is quieter, lighter and does not require lubrication.
@@alanw.4511 but it may require a replacement, or it is harder for a belt to cope with quick movements and heavy torque.
@@ZZZxRv The belt can handle the speed and torque because it is geared allowing the motor to be high speed. But yes, it can break but is easy to service. Plastic gears can strip teeth and metal gears wear out and if a chain is involved it can stretch and requires lubircation. Belt is simpler, quieter and lighter.
that front black license plate thing looked like Hitlers mustache a bit.
you are brother of Elon musk
it all good but u have no explana how self driving work
flying ballscrew... jeez.
New Leaf also can drive itself. Just not that smart.
Please get rid of the large blue logo on the right corner. It not only gets in the way at times but is Annoying as heck!
Please use some good equipment to increase your video quality
your logo is distracting.... make it smaller or see through.... smaller may be better. nice logo