Wire-controlled four-wheel active steering electric wheel system and steering fault-tolerant control method thereof

Abstract

The invention discloses a wire-controlled four-wheel active steering electric wheel system and a steering fault-tolerant control method thereof. The system includes a steering wheel, a steering wheelrotation angle sensor, two steering motors, two motor control units, a motor fault detection device, two rack-and-pinion steering gear, two steering tie rods, four wheels, a hub motor, a yaw velocitysensor, a vehicle speed sensor, a lidar, a vehicle-mounted camera and a whole vehicle control unit. In the course of driving, the whole vehicle electronic control unit collects the steering wheel rotation angle, the yaw angular velocity, the vehicle speed, a lidar signal and a vehicle-mounted camera signal in real time, a set controller is used for calculating the rotation angles of the front andrear wheels and output torque of the four hub motors and transmitting the signals to each motor controller, and the motor controller sends a current signal to a motor to complete steering operation. The fault tolerance problem of the wire-controlled four-wheel steering system can be effectively solved and the driving safety of the vehicle is improved.

Description

technical field [0001] The invention relates to the field of vehicle active control, in particular to a wire-controlled four-wheel active steering electric wheel system and a steering fault-tolerant control method thereof. Background technique [0002] Steering system, as one of the four major systems of the automobile chassis, greatly affects the driving safety and handling stability of the automobile. The development history of the steering system is the earliest mechanical steering system, but this kind of steering system has a complicated structure and a fixed transmission ratio, which is not conducive to the realization of the lightweight design of the car and the safe and stable driving of the driver. The steering-by-wire system cancels the mechanical connection between the steering wheel and the steering wheel, and uses sensors to collect the driver's steering intention and then send it to the steering actuator to complete the steering. Compared with the traditional ...

AI Technical Summary

Problems solved by technology

For example, the dual-motor redundant steering-by-wire system solves the problem of fault tolerance of the steering-by-wire system through motor backup. After one motor fails, the other motor can be used to steer, but this will increase manufacturing costs and take up more space. more complex system

And in the fault-tolerant control, the driver's emergency response and path tracking problems after the fault occurred are not considered, which may cause the driver to overreact and the vehicle deviates from the target path

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