The invention discloses a steering angle tracking and fault-tolerant control method for a steer-by-wire system with preset performance. The method comprises the following steps: 1, establishing a kinetic model of a steering actuator of the steer-by-wire system; 2, designing a rack force estimator; 3, designing a corner tracking controller with finite time convergence; and 4, designing a fault-tolerant strategy of the fault of the rack displacement sensor. According to the corner tracking control method based on preset performance control of finite time convergence, the transient performance and the steady-state performance of corner tracking can be guaranteed at the same time, the corner tracking can be converged into the preset residual set within the preset time, and good corner tracking performance can still be achieved even under the condition that a rack displacement sensor breaks down. According to the fault-tolerant strategy based on the rotary transformer, the fault-tolerant capability of the steering-under-wire system under the fault of the rack displacement sensor can be realized on the premise of not increasing the cost and space for installing additional sensors, and the reliability of the steering angle tracking control method is improved.
本发明公开了一种具有预设性能的线控转向系统转角跟踪与容错控制方法,所述方法包括如下步骤:一、线控转向系统的转向执行器的动力学模型的建立;二、齿条力估计器的设计;三、有限时间收敛的转角跟踪控制器的设计;四、齿条位移传感器故障的容错策略设计。本发明的基于有限时间收敛的预设性能控制的转角跟踪控制方法可同时保证转角跟踪的瞬态性能和稳态性能,并在预设时间内收敛到预设的残差集内,即使在齿条位移传感器故障条件下依然可以实现很好的转角跟踪性能。本发明的基于旋转变压器的容错策略能够在不增加安装额外传感器的成本和空间等前提下实现齿条位移传感器故障下线控转向系统的容错能力,提高了转角跟踪控制方法的可靠性。
Steering-by-wire system steering angle tracking and fault-tolerant control method with preset performance
具有预设性能的线控转向系统转角跟踪与容错控制方法
2024-09-06
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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