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。


    Access

    Download


    Export, share and cite



    Title :

    Dual-motor steer-by-wire system and active fault-tolerant control method thereof


    Additional title:

    一种双电机线控转向系统及其主动容错控制方法


    Contributors:
    ZHANG HAN (author) / JIANG WENTAO (author) / LEE WON-HO (author)

    Publication date :

    2023-03-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    Dual-motor steer-by-wire system and fault-tolerant control method thereof

    XU KUNHAO / ZHAO WANZHONG / LIU JINQIANG et al. | European Patent Office | 2022

    Free access

    Dual-motor steer-by-wire system and convolutional neural network fault-tolerant control method thereof

    XU KUNHAO / ZHAO WANZHONG / ZHANG SENHAO et al. | European Patent Office | 2022

    Free access

    DUAL-POWER SUPPLY DUAL-WINDING MOTOR STEER-BY-WIRE SYSTEM AND FAULT-TOLERANT CONTROL METHOD THEREFOR

    ZHOU XIAOCHUAN / LUAN ZHONGKAI / ZHAO WANZHONG et al. | European Patent Office | 2021

    Free access

    DUAL-ELECTRIC-MOTOR DUAL-POWER SUPPLY STEER-BY-WIRE SYSTEM AND FAULT-TOLERANT CONTROL METHOD THEREFOR

    ZHAO WANZHONG / ZHOU XIAOCHUAN / WANG ANXU et al. | European Patent Office | 2020

    Free access

    Distributed active fault-tolerant control method of four-wheel steer-by-wire system

    LEE JONG-HO / DING HAITAO / ZHANG NA et al. | European Patent Office | 2024

    Free access