Steering-by-wire system with adaptive fault-tolerant control function and its control method

A technology of fault-tolerant control and steer-by-wire, which is applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., can solve the problems of vehicle stability, poor reliability, failure of hub motors, etc., and achieve simple control methods and good control effects Effect

Active Publication Date: 2021-10-01
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a steer-by-wire system with adaptive fault-tolerant control function and its control method, so as to solve the problem of motor failure in the in-wheel motor in the prior art, vehicle stability, The problem of poor reliability

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  • Steering-by-wire system with adaptive fault-tolerant control function and its control method
  • Steering-by-wire system with adaptive fault-tolerant control function and its control method
  • Steering-by-wire system with adaptive fault-tolerant control function and its control method

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Embodiment Construction

[0060] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0061] refer to figure 1 As shown, a steer-by-wire system with adaptive fault-tolerant control function of the present invention includes: steering wheel angle sensor 1, steering wheel 2, steering column 3, left front wheel and hub motor 4, rack and pinion steering gear 5, Right front wheel and hub motor 6, front axle 7, electronic control unit 8, battery pack 9, left rear wheel and hub motor 10, right rear wheel and hub motor 11, vehicle speed sensor 12, yaw rate sensor 13, rear axle 14 The steering wheel angle sensor 1 is installed in the steering column 3; the steering wheel 2 is installed on the steering column 3; the left front wheel and hub motor 4 and the right front wheel and hub mot...

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Abstract

The invention discloses a steer-by-wire system with adaptive fault-tolerant control function and its control method. The method comprises: establishing the relationship between the ideal yaw rate and the steering wheel angle; establishing a four-wheel differential power steering system model; The power steering model establishes the state space model of the four-wheel differential power steering system with adaptive fault-tolerant control function: according to the state space model in step 3) and the ideal yaw rate in step 1), the adaptive fault-tolerant control algorithm is used to realize the steering by wire System fault-tolerant control. The invention can effectively suppress the problem of large-scale change of parameters caused by the failure of the hub motor, so that the steering system under failure can quickly change the control strategy, adapt to the failure situation, and achieve a good control effect.

Description

technical field [0001] The invention belongs to the technical field of four-wheel steering by wire, and specifically refers to a steering by wire system with an adaptive fault-tolerant control function and a control method thereof. Background technique [0002] For traditional vehicles, clutches, transmissions, drive shafts, differentials and even transfer cases are all essential, and these components are not only heavy and complex in structure, but also have problems of regular maintenance and failure rate. In-wheel motors solve the above problems well; in addition to a simpler structure, vehicles driven by wire-controlled in-wheel motors can achieve better space utilization and higher transmission efficiency. [0003] Since the in-wheel motor has the characteristics of independent drive-by-wire of a single wheel, it is easy to realize the driving forms of front-wheel drive, rear-wheel drive and four-wheel drive. At the same time, the in-wheel motor can adjust the torque o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D5/00B62D101/00B62D113/00B62D137/00
CPCB62D5/001B62D6/00
Inventor 张寒赵万忠
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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