The invention relates to a fault diagnosis and fault-tolerant
compensation algorithm for a steer-by-wire motor and a sensor. The
algorithm comprises the steps of building a three-degree-of-freedom dynamic joint model of a steering mechanism and an electric forklift, and designing a traceless
Kalman filtering algorithm to design a corner predictor, establishing a steering
motor model, carrying outwheel rotation angle prediction and predictor self-diagnosis, analyzing fault type characteristics of the corner motor and the sensor and modeling various types of faults, designing a fault diagnosisalgorithm based on sensor measurement data, designing a fault diagnosis
algorithm based on sensor data residual errors, using a corresponding
fault tolerance compensation algorithm according to the sensor fault type, and designing a fault diagnosis method and a fault type judgment method of the steering motor. An error prediction value can be effectively prevented from entering a
system fault diagnosis and fault-tolerant compensation module, and misjudgment of the
system is avoided. And meanwhile, modeling is carried out for fault characteristics, the accuracy is higher than that of a traditional
fault modeling method, and the fault types can be distinguished more effectively and quickly.