A Fault Tolerant Control Method for Active Front Wheel Steering System of Automobile

Abstract

The invention discloses a fault-tolerant control method for an active front wheel steering system of an automobile, comprising the following steps: Step 1, based on an ideal vehicle front wheel steering system dynamics model, using it as a reference model during the operation of the automobile for use in Output the actual motion state information of the car, including the car's lateral velocity, yaw rate, center of mass side slip angle and lateral tire force; step 2, because the mass of the vehicle changes with the number of passengers, its value fluctuates within a certain range, so Uncertain parameters existing in the vehicle model are processed by Takagi-Sugeno, i.e. T-S fuzzy method; the control method of the present invention has the advantages of simple structure, small amount of calculation, and easy realization; and, the front wheel steering angle The combination of control and yaw moment control makes the control effect of the present invention superior to that of a single control method. On the one hand, the compound control can ensure better corner accuracy, and on the other hand, it can obtain better control effect.

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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