The invention provides a dual-motor steer-by-wire system and an active fault-tolerant control method thereof. The method comprises a vehicle front wheel steering angle tracking controller, a vehicle stability controller and a nonlinear model control method designed based on a variable parameter model (LPV). The front wheel steering angle tracking controller and the stability controller are designed based on a linear quadratic regulator (LQR) and an optimal control algorithm. The method comprises the following steps: solving an ideal front wheel steering angle; establishing a dynamic model of the vehicle dual-motor steering execution system; and designing a steering angle tracking controller and a stability controller according to the ideal front wheel steering angle and steering system dynamics model. The dual-motor active fault-tolerant control comprises the steps that a dual-motor torque sensor is compared with a control torque output by a front wheel steering angle tracking controller, a fault coefficient is calculated, and a steering execution mechanism model is optimized into a variable parameter (LPV) nonlinear structure containing motor fault parameters. According to the invention, the safety of the vehicle after the double motors fail can be guaranteed.
本发明提供了一种双电机线控转向系统及其主动容错控制方法,所述方法包括:车辆前轮转角跟踪控制器、车辆稳定性控制器以及基于变参数模型(LPV)设计的非线性模型控制方法。前轮转角跟踪控制器与稳定性控制器是基于线性二次型调节器(LQR)以及最优控制算法设计的,包括:求解理想前轮转角;建立车辆双电机转向执行系统的动力学模型;根据理想前轮转角与转向系统动力学模型,设计转角跟踪控制器及稳定性控制器。双电机主动容错控制包括:通过双电机转矩传感器与前轮转角跟踪控制器输出的控制转矩比较,计算故障系数,将转向执行机构模型优化为含电机故障参数的变参数(LPV)非线性结构。本发明能够保障双电机故障后的车辆安全性。
Dual-motor steer-by-wire system and active fault-tolerant control method thereof
一种双电机线控转向系统及其主动容错控制方法
2023-03-10
Patent
Electronic Resource
Chinese
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