Redundant fault-tolerant control method applied to double-motor steering-by-wire system

Abstract

The invention discloses a redundant fault-tolerant control method applied to a double-motor steering-by-wire system, comprising the following steps of: measuring the steering angle of a steering wheel by a steering angle sensor at the steering wheel and transmitting to a central controller; calculating a target steering angle of a pinion according to the steering angle of the steering wheel and an ideal transmission ratio; sending a target steering angle value to a steering angle motor controller by the central controller; carrying out closed loop control on a steering angle motor by the steering angle motor controller according to the target steering angle; measuring the working current of the steering angle motor by a current sensor; inquiring a constant current distribution curve to obtain a target working current of an auxiliary motor; sending a target working current value to an auxiliary motor controller by the central controller, and carrying out closed loop control on the auxiliary motor by the auxiliary motor controller according to the target current value to realize precise control of the pinion steering angle; monitoring whether an engine is flameout by the central controller; monitoring whether the two motors go wrong by the central controller; and carrying out steering control on one motor in the normal operating condition by the central controller when the othermotor goes wrong.

Description

technical field [0001] The invention relates to an automobile steering control method, more specifically, the invention relates to a redundant fault-tolerant control method applied to a dual-motor wire-controlled steering system. Background technique [0002] Traditional steering systems (mechanical, hydraulic and electric power steering systems) ensure that the car moves according to the driver's will, but because of its fixed steering ratio, the car's response characteristics vary with the speed and steering wheel angle, so the driver must Compensating for changing characteristics ensures that the car behaves as intended under different operating conditions. But this affects the handling stability and driving comfort of the car. Therefore, the steer-by-wire system came into being. The steer-by-wire system can freely design the force transmission characteristics and angle transmission characteristics of the steering system, which brings a lot of development space to the d...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the problems existing in the prior art, and provide a method to reduce the complexity and technical difficulty of the algorithm under the premise of e

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