The invention provides a steering-by-wire system fault-tolerant strategy considering driver steering characteristics, and provides a personalized fault-tolerant control strategy for three different drivers based on a steering-by-wire system. The strategy is composed of a fault detection and diagnosis controller and a personalized fault-tolerant controller. The fault detection and diagnosis controller is composed of an interference observer and a forgetting factor recursive least square algorithm, detects and estimates the state and parameters of the actuator in real time, and feeds back the state related to the motor or the degree of partial damage to an ECU. After the ECU sends a fault-tolerant command, the personalized fault-tolerant controller is started to process the influence of thefault motor on different drivers. The personalized fault-tolerant control strategy can assist a driver in well tracking a reference path when the steering motor breaks down, and physiological and psychological burdens brought to the driver by motor faults are greatly reduced.
本发明提供了一种考虑驾驶员转向特性的线控转向系统容错策略,基于线控转向系统,针对三种不同驾驶员提出了一种个性化的容错控制策略。它由一个故障检测和诊断控制器和一个性化容错控制器组成。故障检测和诊断控制器由干扰观测器和遗忘因子递推最小二乘算法组成,实时检测并估算执行器的状态和参数,并将与电机有关的状态或部分损坏的程度反馈给ECU。ECU发出容错命令后,将打开个性化容错控制器,以处理故障电机对不同驾驶员的影响。个性化容错控制策略可以在转向电机发生故障时,辅助驾驶员较好的跟踪参考路径,大大降低电机故障给驾驶员带来的生理和心理负担。
Steering-by-wire system fault-tolerant strategy considering driver steering characteristics
考虑驾驶员转向特性的线控转向系统容错策略
07.08.2020
Patent
Elektronische Ressource
Chinesisch
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