The invention discloses a dual-motor steer-by-wire system and a fault-tolerant control method thereof. The dual-motor steer-by-wire system comprises a steering wheel module, a steering execution module and a control module, a steering wheel module; the control module is electrically connected with the steering wheel angle sensor, the steering wheel torque sensor, the vehicle speed sensor, the yaw velocity sensor, the first current Hall sensor, the second current Hall sensor, the road sensing motor driver, the first steering motor driver and the second steering motor driver. According to the method, an extended Kalman filtering algorithm is adopted, a parameter and state coupling self-adaptive nonlinear observer is established based on a dual-motor steer-by-wire system model, and the motor failure coefficient and the whole vehicle state are accurately observed in real time.
本发明公开了一种双电机线控转向系统及其容错控制方法,系统包括:转向盘模块、转向执行模块、控制模块;转向盘模块;所述控制模块分别与转向盘转角传感器、转向盘转矩传感器、车速传感器、横摆角速度传感器、第一电流霍尔传感器、第二电流霍尔传感器、路感电机驱动器、第一转向电机驱动器和第二转向电机驱动器电气相连。本发明采用扩展卡尔曼滤波算法,基于双电机线控转向系统模型,建立参数和状态耦合自适应非线性观测器,实时准确的观测电机失效系数以及整车状态。
Dual-motor steer-by-wire system and fault-tolerant control method thereof
一种双电机线控转向系统及其容错控制方法
2022-05-10
Patent
Electronic Resource
Chinese
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