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C-EPS control strategy hardware-in-loop simulation development platform based on active fault tolerance

A C-EPS and control strategy technology, applied in design optimization/simulation, geometric CAD, special data processing applications, etc., can solve problems such as low precision, lack of precise loading and steering resistance, and poor simulation results

Active Publication Date: 2021-01-26
HANGZHOU SHIBAO AUTO STEERING GEAR +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing electric power assist system performance test device still cannot replace the actual vehicle test to a certain extent, and at the same time lacks the problem of accurately loading the steering resistance, resulting in poor simulation results and low accuracy

Method used

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  • C-EPS control strategy hardware-in-loop simulation development platform based on active fault tolerance
  • C-EPS control strategy hardware-in-loop simulation development platform based on active fault tolerance
  • C-EPS control strategy hardware-in-loop simulation development platform based on active fault tolerance

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0087] Embodiment 1: A hardware-in-the-loop simulation development platform based on active fault-tolerant C-EPS control strategy, such as figure 1 As shown, it includes hardware device, dSPACE real-time simulation system and host computer; dSPACE real-time simulation system is composed of DS1006 processor board and DS2202 HILI / O interface board. The required signals are generated, and the two are connected through the PHS++ bus; the DS1006 processor board is equipped with a 64-bit AMDOpteron as the main processor, which integrates a 256MB local memory for running the real-time model, and a 128MB global memory for communicating with the host computer For data exchange, it can be applied to rapid control prototyping (RCP) and hardware-in-the-loop (HIL), and can handle complex, large models that require extremely high processing performance, such as power systems and virtual vehicles. The DS2202 HIL I / O interface board provides 16 differential A / D acquisition channels, 24 PWM me...

Embodiment 2

[0142] Embodiment 2: The first half steps of this embodiment are the same as those in Embodiment 1, but the control mode switching module is switched to the failure mode in the C-EPS system control strategy.

[0143] In the fault mode, the faults of the rotation angle sensor, current sensor and torque sensor are described as follows:

[0144] the y if =y i +(Δ mi -1)y i +α;

[0145] Where: y if is the actual output value of the sensor; y i is the real value; α is the sensor stuck value; Δ m is the sensor fault gain, when Δ m is 1, when α is 0, the sensor has no fault;

[0146]

[0147] the y f =y+f s ;

[0148] In the formula: when i=1,2,3, represent angle sensor, current sensor and torque sensor respectively; y f is the sensor signal with fault; y is the system status output of the sensor with fault; f s is the error deviation value of the sensor;

[0149] Taking the mandrel of the steering column, the booster motor and the booster motor circuit as reference ...

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Abstract

The invention discloses a C-EPS control strategy hardware-in-loop simulation development platform based on active fault tolerance. The C-EPS control strategy hardware-in-loop simulation development platform comprises a hardware device, a dSPACE real-time simulation system and an upper computer. A servo motor in the hardware device is used as a steering resistance loading device, and a steering resistance moment model is established in the upper computer in combination with an automobile two-degree-of-freedom model and front suspension parameters. A dSPACE real-time simulation system is adoptedto acquire a steering wheel rotating angle signal of a rotating angle sensor in a C-EPS system, a steering wheel torque signal of a torque sensor, a current signal of a power-assisted motor, and a rotating speed and a rotating angle signal of a servo motor driver, and transmits operating parameters of the C-EPS system to the upper computer; the steering total resistance torque is obtained throughthe steering resistance torque model, the operation simulation working condition of the C-EPS system is simulated in real time, a C-EPS system control strategy is established in the upper computer, and a hardware-in-loop simulation test is achieved. According to the method, the simulation precision and the development efficiency of the C-EPS system control strategy can be effectively improved, and the development cost is reduced.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to a C-EPS control strategy hardware-in-the-loop simulation development platform based on active fault tolerance. Background technique [0002] With the development of the electronic manufacturing industry and the continuous increase in the production and sales of new energy vehicles, the electric power steering system (Electronic Power Steering, EPS) not only continues to occupy the steering system of traditional cars, but also has become an important part of many new energy vehicles due to the reduction of production costs. gradually became popular. Especially the column type electronic power steering system (Column Type Electronic Power Steering, C-EPS) in which the booster motor and controller are arranged in the cab has small size, high integration and low protection requirements, and can be adapted to various types of wireless Power-assisted or hydraulic ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/15G06F30/20
CPCG06F30/15G06F30/20
Inventor 万民伟李强虞忠潮王燮辉朱兴旺
Owner HANGZHOU SHIBAO AUTO STEERING GEAR
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