Steering-by-wire system and control method based on kalman filter capable of divergence inhibition

Abstract

The invention discloses a steering-by-wire system and a control method based on a kalman filter capable of divergence inhibition. The system comprises a steering wheel and a connecting mechanism of the same, a sensor of steering wheel turning angles, a sensor of steering wheel torque, a road sensing motor, a current sensor of the road sensing motor, a steering motor, a current sensor of the steering motor, a car speed sensor, a front wheel turning angle sensor, a gear-rack steering device, a position sensor, a filtering estimation module, a safety judgment module, a control signal superposition module and a steering electronic control unit. According to the invention, the kalman filter capable of the divergence inhibition is used for filtering prediction and estimation of postures of automobile motions; and the kalman filter with a divergence inhibition function acquires signals from the electronic sensors so as to estimate a real-time state of an automobile. The steering controller of the system disclosed by the invention can make the system have high interference inhibition performance on the premise of ensuring steering stability, so that high stability of automobile manipulation can be obtained.

Description

technical field [0001] The invention relates to the field of automobile steering-by-wire systems, specifically describes a steering-by-wire system based on a Kalman filter that can suppress divergence, and belongs to the control field of automobile steering systems. Background technique [0002] Nowadays, the steer-by-wire system that cancels the mechanical connection in the steering system has a good development prospect. It has the function of realizing active steering and variable steering wheel torque feedback. Its flexible design and simplified structure are popular among the public. sought after. For the steer-by-wire system, special emphasis is placed on the necessary "road feel" of the automobile steering system, so it is determined that the operation of the steer-by-wire system strongly depends on the properties of the sensor signal, which also leads to its reliability being greatly reduced compared with the traditional steering system . In order to solve this pro...

AI Technical Summary

Problems solved by technology

The mathematical model of the system or the statistical characteristics of the noise are inaccurate and cannot reflect the real physical process of the system. These factors will make the Kalman filter diverge

[0003] In addition, under various changing working conditions, there is a certain amount of noise interference to the sensor, and the car will also be affected by cross wind and road excitation, which will affect the reliability of the steering system of the car, and the stability of the steering system has a great impact on the car have a great impact on driving safety

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