A redundant steer-by-wire system and fault-tolerant control method

Abstract

The application discloses a kind of redundancy steer-by-wire steering systems and fault-tolerant control methods, belong to steering system control technical field, its system includes whole vehicle area controller, first steering controller, second steering controller, first winding and second winding;Whole vehicle area controller is communicated with first steering controller and second steering controller respectively by CAN bus;First steering controller and second steering controller drive corresponding first winding and second winding respectively;First steering controller and second steering controller exchange heartbeat signal by serial peripheral interface, for controller state monitoring and redundancy coordination.The application introduces the hybrid diagnostic architecture based on physical model residual and deep time sequence feature extraction, combined with double criterion fusion and adaptive threshold strategy, significantly improves the robustness of fault diagnosis to complex working conditions and parameter drift.

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