The invention relates to a fault diagnosis and fault-tolerant compensation algorithm for a steer-by-wire motor and a sensor. The algorithm comprises the steps of building a three-degree-of-freedom dynamic joint model of a steering mechanism and an electric forklift, and designing a traceless Kalman filtering algorithm to design a corner predictor, establishing a steering motor model, carrying outwheel rotation angle prediction and predictor self-diagnosis, analyzing fault type characteristics of the corner motor and the sensor and modeling various types of faults, designing a fault diagnosisalgorithm based on sensor measurement data, designing a fault diagnosis algorithm based on sensor data residual errors, using a corresponding fault tolerance compensation algorithm according to the sensor fault type, and designing a fault diagnosis method and a fault type judgment method of the steering motor. An error prediction value can be effectively prevented from entering a system fault diagnosis and fault-tolerant compensation module, and misjudgment of the system is avoided. And meanwhile, modeling is carried out for fault characteristics, the accuracy is higher than that of a traditional fault modeling method, and the fault types can be distinguished more effectively and quickly.
本发明涉及一种线控转向电机和传感器的故障诊断及容错补偿算法,包括:建立转向机构与电动叉车三自由度动力学联合模型,设计无痕卡尔曼滤波算法设计转角预测器;建立转向电机模型;进行车轮转角预测及预测器自诊断;分析转角电机和传感器故障类型特征并对各类型故障建模;设计基于传感器测量数据的故障诊断算法;设计基于传感器数据残差的故障诊断算法;根据传感器故障类型使用相应的故障容错补偿算法;设计转向电机的故障诊断方法和故障类型判断方法。本发明可有效地防止错误预测值进入系统故障诊断和容错补偿模块,避免系统发生误判。同时针对故障特征建模,准确性比传统对故障本身建模方法准确性更高,可以更有效快速的区分故障类型。
Fault diagnosis and fault-tolerant compensation algorithm for steer-by-wire motor and sensor
线控转向电机和传感器的故障诊断及容错补偿算法
2020-07-17
Patent
Electronic Resource
Chinese
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