The invention discloses a steer-by-wire system with a self-adaptive fault-tolerant control function and a control method of the steer-by-wire system. The method comprises the steps of establishing a relation between an ideal yaw velocity and a steering wheel angle; establishing a four-wheel differential power steering system model; establishing a four-wheel differential power steering system statespace model with the self-adaptive fault-tolerant control function according to the four-wheel differential power steering model; and realizing fault-tolerant control of the steer-by-wire system by adopting a self-adaptive fault-tolerant control algorithm according to a state space model in the step 3) and the ideal yaw velocity in the step 1). According to the system and the method, a problem ofa large-range parameter change caused by a fault of a hub motor can be effectively inhibited so that the steering system under the fault can quickly change a control strategy to adapt to a fault condition, and a good control effect is achieved.
本发明公开了一种具有自适应容错控制功能的线控转向系统及其控制方法,方法包括:建立理想横摆角速度与方向盘转角关系;建立四轮差动助力转向系统模型;根据四轮差动助力转向模型建立具有自适应容错控制功能的四轮差动助力转向系统状态空间模型:根据步骤3)的状态空间模型及步骤1)的理想横摆角速度采用自适应容错控制算法实现对线控转向系统的容错控制。本发明能够有效的抑制轮毂电机故障引起的参数大范围变化的问题,使得处在故障下的转向系统能够快速改变控制策略,适应故障情况,达到良好的控制效果。
Steer-by-wire system with self-adaptive fault-tolerant control function and control method of steer-by-wire system
具有自适应容错控制功能的线控转向系统及其控制方法
2020-10-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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