Active fault tolerance and fault relief system based on steer-by-wire dual motors and control method of active fault tolerance and fault relief system

Abstract

The invention discloses an active fault tolerance and fault relief system based on steer-by-wire dual motors and a mode switching control method of the active fault tolerance and fault relief system.The system comprises an acquisition unit, a steering wheel assembly, an ECU control module, a front wheel steering assembly and a fault tolerance controller, wherein the acquisition unit, the steeringwheel assembly, the ECU control module and the front wheel steering assembly are sequentially connected. The control method of the system includes the steps that the acquisition unit transmits an acquired automobile signal to the ECU control module, and a corresponding compensation strategy is selected through a fault tolerance control strategy unit, a yaw velocity calculation unit, a stability control unit and a dual-motor compensation unit and acts on a rack mechanism. By the adoption of the provided system and method, an active fault tolerance mode and a fault relief mode can be switched according to different fault working conditions of the faulty motor, optimum control of the real-time performance of an automobile is achieved, and the traveling performance and high performance of theautomobile under an automobile field fault condition are guaranteed.

Description

technical field [0001] The invention relates to the technical field of steer-by-wire systems and fault-tolerant control systems, in particular to the steer-by-wire dual-motor fault-tolerant function for switching working modes under different fault conditions of the steer-by-wire dual motors and ensuring good vehicle driving performance and battery life. System and mode switching control method thereof. Background technique [0002] At present, hardware redundancy and software redundancy are commonly used for vehicle fault tolerance. Among them, hardware redundancy can be replaced when the car breaks down, and the faulty hardware is replaced with new hardware to ensure the normal driving of the car; but the hardware redundancy method will increase the economic cost of the car, without considering the cost of the car. Real-time fault conditions cannot achieve real-time optimal allocation of vehicles, which is a relatively conservative fault-tolerant method. Software redunda...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the existing fault-tolerant concept and the deficiencies of the prior art, the present invention proposes a new type of fault-tolerant concept-fault mitigation, and based on this concept, provides an active fault-tolerant and fault link system and its mode based on steering-by-wire dual-execution motors The switching method, on the basis of ensuring safety, greatly improves the safety, reliability, and real-time superiority of the system through the combination of hardware redundancy, active fault tolerance and fault mitigation, and realizes the real-time superiority of the vehicle. The perfect integration of safety and reliability solves the problem that the car cannot run or the performance drops sharply in the case of a single motor failure, and solves the problem of hardware redundancy and active fault tolerance technology directly isolating the faulty motor, which is caused by too conservative methods The problem of motor performance waste also solves the problem that the real-time optimal performance of the car cannot be realized according to the type of car failure during the driving process

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