Fault diagnosis and fault-tolerant compensation algorithm for steer-by-wire motor and sensor

Abstract

The invention relates to a fault diagnosis and fault-tolerant compensation algorithm for a steer-by-wire motor and a sensor. The algorithm comprises the steps of building a three-degree-of-freedom dynamic joint model of a steering mechanism and an electric forklift, and designing a traceless Kalman filtering algorithm to design a corner predictor, establishing a steering motor model, carrying outwheel rotation angle prediction and predictor self-diagnosis, analyzing fault type characteristics of the corner motor and the sensor and modeling various types of faults, designing a fault diagnosisalgorithm based on sensor measurement data, designing a fault diagnosis algorithm based on sensor data residual errors, using a corresponding fault tolerance compensation algorithm according to the sensor fault type, and designing a fault diagnosis method and a fault type judgment method of the steering motor. An error prediction value can be effectively prevented from entering a system fault diagnosis and fault-tolerant compensation module, and misjudgment of the system is avoided. And meanwhile, modeling is carried out for fault characteristics, the accuracy is higher than that of a traditional fault modeling method, and the fault types can be distinguished more effectively and quickly.

Description

technical field [0001] The invention relates to the technical field of wire-controlled four-wheel steering electric forklifts, in particular to a fault diagnosis and fault-tolerant compensation algorithm for wire-controlled steering motors and sensors. Background technique [0002] As an engineering vehicle, forklifts have a special working environment, so their safety and maneuverability must be guaranteed. The steering system is the core of the vehicle's control system. The power source of the steering system is the steering motor, which is also a part that is prone to failure. Steering motor faults mainly include inter-turn short circuit faults and abnormal back electromotive force faults. Sensor faults mainly include sensor noise faults, sensor drift faults, and sensor stuck faults. The existing technology has not established a self-diagnosis module of the rotation angle predictor, and the wrong prediction value affects the operation of the fault diagnosis and fault-to...

AI Technical Summary

Problems solved by technology

The existing technology has not established the self-diagnosis module of the rotation angle predictor, and the wrong prediction value affects the operation of the fault diagnosis and fault-tolerant compensation algorithm; the fault diagnosis algorithm based on the sensor measurement data and data residuals has not been established, and only the fault is modeled. Cannot effectively and accurately judge which kind of fault occurs in this part; use the same fault-tolerant compensation algorithm for multiple faults, and cannot establish corresponding fault-tolerant compensation algorithms for different faults, resulting in inability to effectively and accurately perform fault-tolerant compensation

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