The invention provides a double-winding motor steer-by-wire system model and a parameter identification method thereof, and the model comprises the steps: building a whole vehicle two-degree-of-freedom model and a linear tire model based on a dynamical model of a double-winding permanent magnet synchronous motor and a dynamical model of a gear rack steering execution mechanism; establishing a state space description equation about execution motor control current and front wheel rotation angle signals; the method comprises the following steps: on the basis of an extended Kalman filtering estimation algorithm, performing parameter estimation on a nonlinear system containing a system uncertain parameter rho by receiving a sensor signal of a vehicle, and estimating vehicle important parameter information of the vehicle in a steering process; meanwhile, estimated parameter signals are introduced, state estimation is carried out on the whole vehicle state through a Kalman filtering algorithm, and the stability and safety of whole vehicle steering are guaranteed. The change parameters of the system are estimated according to the actual motion condition of the vehicle, the response speed, precision and stability of the steering system are further improved, and the control algorithm is optimized.
本发明提供了一种双绕组电机线控转向系统模型及其参数辨识方法,模型为:基于双绕组永磁同步电机的动力学模型,齿轮齿条转向执行机构的动力学模型,建立整车二自由度模型以及线性轮胎模型,建立关于执行电机控制电流与前轮转角信号的状态空间描述方程;方法为:基于扩展卡尔曼滤波估计算法,通过接收车辆的传感器信号,对含有系统不确定参数ρ的非线性系统进行参数估计,估计车辆在转向过程中的车辆重要参数信息;同时,引入估计后的参数信号,通过卡尔曼滤波算法对整车状态进行状态估计,保障整车转向的稳定性与安全性。本发明依据车辆实际运动状况来估计系统变化参数,进一步提高了转向系统的响应速度、精度和稳定性,优化控制算法。
Double-winding motor steer-by-wire system model and parameter identification method thereof
一种双绕组电机线控转向系统模型及其参数辨识方法
03.09.2024
Patent
Elektronische Ressource
Chinesisch
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