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Dual-motor steer-by-wire system and fault-tolerant control method thereof

A steering-by-wire, dual-motor technology, used in motor generator control, automatic steering control components, electronic commutation motor control, etc., can solve problems such as poor real-time performance, low fault detection accuracy, and inability to guarantee system stability. To achieve the effect of ensuring security and stability

Active Publication Date: 2022-05-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

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Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a dual-motor steering-by-wire system and its fault-tolerant control method to overcome the existing steering-by-wire The problems of low fault detection accuracy, poor real-time performance and unguaranteed system stability exist in the system technology

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Embodiment Construction

[0118] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0119] refer to figure 1 As shown, a dual-motor steering-by-wire steering system of the present invention includes: a steering wheel module, a steering execution module, and a control module 5;

[0120] Steering wheel module, including: steering wheel 1, steering column 2, steering wheel angle sensor 3, steering wheel torque sensor 19, road sensor motor driver 17, road sensor motor 18 and road sensor motor reducer 4;

[0121] The steering wheel 1 is fixedly connected to one end of the steering column 2;

[0122] The output shaft of the road sense motor 18 is connected to the other end of the steering column 2 through the road sense motor reducer 4, and is used to transmit the road sense to ...

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Abstract

The invention discloses a dual-motor steer-by-wire system and a fault-tolerant control method thereof. The dual-motor steer-by-wire system comprises a steering wheel module, a steering execution module and a control module, a steering wheel module; the control module is electrically connected with the steering wheel angle sensor, the steering wheel torque sensor, the vehicle speed sensor, the yaw velocity sensor, the first current Hall sensor, the second current Hall sensor, the road sensing motor driver, the first steering motor driver and the second steering motor driver. According to the method, an extended Kalman filtering algorithm is adopted, a parameter and state coupling self-adaptive nonlinear observer is established based on a dual-motor steer-by-wire system model, and the motor failure coefficient and the whole vehicle state are accurately observed in real time.

Description

technical field [0001] The invention belongs to the technical field of vehicle steering-by-wire systems, and in particular relates to a dual-motor steering-by-wire system and a fault-tolerant control method thereof. Background technique [0002] With the increasing intelligence of automobiles, each module on the automobile gradually tends to be designed by wire, among which steering by wire is a hot research topic at present. Since the steering-by-wire system gets rid of the connection of the traditional mechanical system and controls the operation of the entire system through electronic signals, for the steering-by-wire system with a single actuator, once the actuator has a problem, it will cause the entire system to collapse. Fault tolerance introduces dual motor structure. How to perform real-time fault diagnosis on the dual-motor steer-by-wire system and realize its fault-tolerant control quickly and accurately is the key to ensure the stable operation of the dual-motor...

Claims

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Application Information

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IPC IPC(8): B62D5/04B62D6/00H02P21/13H02P23/12H02P5/46B62D113/00B62D119/00B62D137/00
CPCB62D5/0463B62D6/00H02P21/13H02P23/12H02P5/46
Inventor 徐坤豪赵万忠刘津强梁为何张森皓刘利锋李志成
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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