The invention provides a fault-tolerant device for an autonomous steering system of an unmanned vehicle and a fault-tolerant control method, and the fault-tolerant device comprises a fault diagnosis module, and the fault diagnosis method in the fault diagnosis module comprises the steps: a fault is directly observed through a sensor, and the fault is estimated based on a vehicle position and course deviation, the fault level of the steering motor is judged through information fusion, and steering fault misdiagnosis caused by faults of a steering column angular displacement sensor and faults of some mechanical structural parts can be effectively prevented, so that subsequent fault-tolerant control is facilitated; according to the fault-tolerant control method, active fault tolerance and passive fault tolerance are combined by sequentially changing voltage parameters of the steering motor, performing four-wheel torque differential compensation and controlling the fault-tolerant device to perform hierarchical fault tolerance according to the fault level of the steering motor, so that energy loss caused by premature intervention of a redundant device is avoided, and the self-adaptive capability of the control system can be further improved.
本发明提供了一种无人驾驶车辆自主转向系统的容错装置及容错控制方法,容错装置包括故障诊断模块,故障诊断模块中运行的故障诊断方法为:将传感器直接观测故障、基于车辆位置和航向偏差估计故障相结合,通过信息融合对转向电机的故障等级进行判别,能有效防止转向管柱角位移传感器故障和一些机械结构件发生故障而引起转向故障误诊,从而有利后续容错控制的进行;容错控制方法根据转向电机的故障等级,依次通过改变转向电机的电压参数、4轮转矩差动补偿以及控制容错装置进行分级容错,将主动容错和被动容错相结合,避免了冗余装置的过早介入造成能量损耗,有利于进一步提高控制系统的自适应能力。
Fault-tolerant device for autonomous steering system of unmanned vehicle and fault-tolerant control method thereof
无人驾驶车辆自主转向系统的容错装置及容错控制方法
2022-02-15
Patent
Electronic Resource
Chinese
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