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

A Kalman filter and steering-by-wire technology, which is applied to automatic steering control components, steering mechanisms, steering rods, etc., and can solve problems such as inaccurate statistical characteristics of mathematical models, inability to reflect system physical processes, and Kalman filter divergence.

Active Publication Date: 2017-09-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF5 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Steering-by-wire system and control method based on kalman filter capable of divergence inhibition
  • Steering-by-wire system and control method based on kalman filter capable of divergence inhibition
  • Steering-by-wire system and control method based on kalman filter capable of divergence inhibition

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0072] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention All modifications of the valence form fall within the scope defined by the appended claims of the present application.

[0073] Such as figure 1 As shown, a steer-by-wire system based on a Kalman filter that can suppress divergence includes a steering wheel 1 and its connection mechanism Y, a steering wheel angle sensor 2, a steering wheel torque sensor 3, a road sense motor A, and a road sense motor current sensor 6. Steering motor B, steering motor current sensor 7, vehicle speed sensor 8, front wheel angle sensor 9, rack and pinion steering gear 4, position sensor 5, filter estimati...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B62D5/04B62D6/00B62D113/00B62D119/00B62D101/00B62D137/00
CPCB62D5/0421B62D5/0463B62D6/008
Inventor 赵万忠樊密丽张寒李艳高琪王云琦邹松春章雨祺
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap