The invention provides a steering angle redundancy control method and system for a dual-motor steer-by-wire system, and the method comprises the steps: obtaining the yaw velocity of a vehicle, vehicle state parameters, the failure state of a steering motor and an expected steering angle, and carrying out the filtering processing of the yaw velocity and the vehicle state parameters; determining a steering wheel steering angle estimation value of the dual-motor steer-by-wire system in the vehicle according to the filtered yaw velocity and the vehicle state parameters; according to the expected steering angle and the steering wheel steering angle estimation value, the total torque of a steering motor of the dual-motor steer-by-wire system is determined in a self-adaptive non-singular fast terminal sliding mode control mode; determining a torque instruction value of each rotary motor in the system by adopting a dynamic distribution mode according to the total torque of the steering motor and the failure state of the rotary motor; and driving the dual-motor steer-by-wire system to operate based on the torque instruction value of each steering motor. According to the technical scheme, accurate control over the steering angle is achieved, and robustness is high.

    本申请提出一种双电机线控转向系统转向角冗余控制方法及系统,所述方法包括:获取车辆的横摆角速度、车辆状态参数、转向电机的失效状态和期望转向角,并对横摆角速度和车辆状态参数进行滤波处理;根据滤波处理后的横摆角速度和车辆状态参数确定车辆中双电机线控转向系统的转向轮转向角估计值;根据期望转向角和转向轮转向角估计值,并利用自适应非奇异快速终端滑模控制的方式,确定双电机线控转向系统的转向电机总转矩;根据转向电机总转矩和转电机失效状态采用动态分配的方式确定系统中各个转电机的转矩指令值;基于各个转向电机的转矩指令值驱动所述双电机线控转向系统运行。本申请提出的技术方案,实现了转向角的精确控制且鲁棒性较强。


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    Title :

    Dual-motor steer-by-wire system steering angle redundancy control method and system


    Additional title:

    一种双电机线控转向系统转向角冗余控制方法及系统


    Contributors:
    HE XIAOXIA (author) / ZHANG JUNZHI (author) / HE CHENGKUN (author) / CHEN MINGHUI (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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