The invention discloses a fault-tolerant control method for distributed driving vehicle steering system faults, which comprises the following steps of: establishing a steering motor model, and judging whether the steering system has faults or not by estimating the internal resistance of a steering motor in real time; and judging whether the steering motor has a failure fault or a non-failure fault through the maximum likelihood ratio of the motor torque signal. Different fault-tolerant control methods are adopted for different faults; when the steering system is in a non-failure fault, fault-tolerant control is carried out by establishing a steering system model to estimate and compensate the fault; when the steering system is in a failure fault, different longitudinal forces are output through the left front wheel and the right front wheel, namely fault-tolerant control is carried out in a differential steering mode.

    本发明公布了一种用于分布式驱动车辆转向系统故障的容错控制方法,包括:建立转向电机模型,通过对转向电机内阻进行实时估计判断转向系统是否出现故障,通过电机转矩信号的极大似然比判断转向电机发生失效故障还是非失效故障。对于不同的故障采用不同的容错控制方法;当转向系统为非失效故障,通过建立转向系统模型对故障进行估计和补偿的方式进行容错控制;当转向系统为失效故障,则通过左、右前轮输出不同纵向力,即差动转向的方式进行容错控制。


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    Title :

    Fault-tolerant control method for steering fault of distributed driving vehicle


    Additional title:

    一种用于分布式驱动车辆转向故障的容错控制方法


    Contributors:
    XIA GUANG (author) / WU JIANYANG (author) / QIAN FENG (author) / PAN YONGCHENG (author) / WU SHIBIAO (author) / JIANG TAO (author) / ZHOU DAYANG (author) / ZHANG CHENHAO (author) / LI TAO (author) / WEI ZHIXIANG (author)

    Publication date :

    2024-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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