The invention discloses an automobile steering system and a design method of a redundant sensor safety mechanism of the automobile steering system, triple redundant fault diagnosis and fault-tolerant control can be carried out through a first torque angle sensor, a second torque angle sensor and a redundant position sensor, a first controller calculates absolute angle values thetaAA1 and thetaAA2 of a steering wheel according to thetaA1 and thetaA2, and a second controller calculates absolute angle values thetaAA2 of the steering wheel according to thetaAA1 and thetaA2. If the calculation results of thetaAA1 and thetaAA2 are consistent, judging that the rotation angle signal thetaA1 and the rotation angle signal thetaA2 are correct, otherwise, judging that the rotation angle signal thetaA1 or the rotation angle signal thetaA2 is wrong, calculating absolute rotation angle values thetaBB1 and thetaBB2 of the steering wheel by the second controller according to thetaB1 and thetaB2, if the calculation results of thetaBB1 and thetaBB2 are consistent, judging that the rotation angle signal thetaB1 and the rotation angle signal thetaB2 are correct, and otherwise, judging that the rotation angle signal thetaA1 and the rotation angle signal thetaB2 are correct. Otherwise, judging that the rotation angle signal thetaB1 or the rotation angle signal thetaB2 is wrong. And when the calculation result of the absolute steering angle value theta AA1 of the steering wheel converted by the first steering angle acquisition module is consistent with the calculation result of the theta AA2, the steering angle theta h3 of the steering wheel is verified with the theta AA1 or the theta AA2.
本发明公开了汽车转向系统及其冗余传感器安全机制的设计方法,通过第一转矩转角传感器、第二转矩转角传感器及冗余位置传感器可进行三重冗余的故障诊断及容错控制,第一控制器根据θA1与θA2计算出转向盘的绝对转角值θA_A1和θA_A2,若θA_A1和θA_A2的计算结果一致,则判断转角信号θA1与转角信号θA2正确,反之则判断转角信号θA1或转角信号θA2有误,第二控制器根据θB1与θB2计算出转向盘的绝对转角值θB_B1和θB_B2,若θB_B1和θB_B2的计算结果一致,则判断转角信号θB1与转角信号θB2正确,反之则判断转角信号θB1或转角信号θB2有误。当第一转角采集模块换算的转向盘的绝对转角值θA_A1与θA_A2的计算结果一致,再将转向盘转角θh3与θA_A1或θA_A2进行校验。
Automobile steering system and design method of redundant sensor safety mechanism of automobile steering system
汽车转向系统及其冗余传感器安全机制的设计方法
2023-12-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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