Fault-tolerant control method for car active front wheel steering system

Abstract

The invention discloses a fault-tolerant control method for a car active front wheel steering system. The fault-tolerant control method comprises the followi.kng steps that first, based on an ideal car front wheel steering system dynamic model, the ideal car front wheel steering system dynamic model is taken as a reference model in the car operation process and used for outputting actual motion state information, including the car transverse speed, the yaw angle speed, the centroid side slip angle and transverse tire force, of a car; and second, the mass of the car is changed with the number of passengers, the value of the mass of the car is fluctuated in a certain range, and thus uncertain parameters existing in the car model are processed through a Takagi-Sugeno method, namely a T-S fuzzy method. The fault-tolerant control method has the advantages of being simple in structure, small in operation amount, convenient to implement and the like; and through combination of front wheel steering angle control and yaw moment control, the control effect of the fault-tolerant control method is superior to a control method in a single mode, through compound control, on the one hand, the good steering angle precision can be ensured, and on the other hand, the good control effect can be obtained.

Description

technical field [0001] The invention relates to the technical field of automobile active front wheel steering control, in particular to a fault-tolerant control method of an automobile active front wheel steering system. Background technique [0002] Automobile steering system is an important subsystem of the overall structure of the automobile. Its handling performance directly affects the safety, stability, sensitivity and driving comfort of the automobile. With the continuous development of modern technology and vehicle control theory, people have higher and higher requirements for the overall performance of vehicles. In terms of active safety and handling stability of automobiles, the active steering system of automobiles plays a key role in improving the overall performance of automobiles. [0003] In the traditional automobile steering system, the transmission ratio is fixed when the automobile turns, and the safety and stability of the automobile are poor. When the ...

AI Technical Summary

Problems solved by technology

When the car is turning at low speed, the active steering motor acts in the same direction as the driver turns the steering wheel, and the steering transmission ratio becomes smaller, which improves the sensitivity of the steering system; when the car is turning at high speed, the active steering motor rotates in the same direction Opposite to the direction of the driver's manipulation of the steering wheel, the steering ratio is increased, the car's sensitivity is reduced, but the stability is improved

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