本发明提供一种具有差动转向功能的线控转向容错系统及方法,电子控制单元ECU根据第一助力电机和第二助力电机的故障状态,进行线控转向模式、差动转向模式一、差动转向模式二的切换,保证助力电机发生故障时,转向容错系统能根据目标前轮转角的大小提供精准力矩进行转向,解决因为电机故障导致方向盘转动困难及助力控制不精准的问题并优化了转向容错系统的性能。本发明根据电机的故障状态控制离合器、电磁锁止器、制动比例阀的导通与闭合,通过电动助力转向与差动助力转向的耦合在单电机故障时减少工作电机的负载,在双电机故障时能提供精准力矩进行转向。本发明结构简单,工作可靠,冗余性能全面,增加车辆的转向轻便性并提高操纵稳定性。
According to the steer-by-wire fault-tolerant system and method with the differential steering function, an electronic control unit (ECU) switches among a steer-by-wire mode, a first differential steering mode and a second differential steering mode according to the fault states of a first power-assisted motor and a second power-assisted motor, and it is guaranteed that when the power-assisted motors break down, the steering-by-wire fault-tolerant system with the differential steering function is switched among the first differential steering mode, the second differential steering mode and the second differential steering mode. The steering fault-tolerant system can provide accurate torque for steering according to the size of the target front wheel steering angle, the problems that a steering wheel is difficult to rotate and power-assisted control is not accurate due to motor faults are solved, and the performance of the steering fault-tolerant system is optimized. On and off of the clutch, the electromagnetic locking device and the braking proportional valve are controlled according to the fault state of the motor, the load of the working motor is reduced when a single motor breaks down through coupling of electric power-assisted steering and differential power-assisted steering, and accurate torque can be provided for steering when double motors break down. The system is simple in structure, reliable in work and comprehensive in redundancy performance, the steering portability of the vehicle is improved, and the control stability is improved.
一种具有差动转向功能的线控转向容错系统及方法
2024-07-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |