The invention provides a steering control method and equipment for a four-wheel independent driving and steering electric automobile, and belongs to the field of automobile steering. When the fault detector detects that the steering actuator breaks down, the fault state at the moment is quantified and transmitted to the self-adaptive fault-tolerant controller in real time, and the fault-tolerant controller calculates the needed additional yawing moment according to the current residual state of the steering actuator and the driving state of the vehicle; and then the vehicle steering function is jointly completed through hub motor differential drive and a residual steering actuator, and if the vehicle cannot be kept in a stable area after the steering actuator breaks down, steering degradation and parking processing are conducted. According to different failure types of the steer-by-wire system, vehicle steering can be completed through differential drive of the four-wheel hub motor and the residual steering actuator, and the cost is reduced while it is guaranteed that the vehicle has the steering function.
本发明提出了一种四轮独立驱动与转向电动汽车的转向控制方法及设备,属于汽车转向领域。当故障检测器检测出转向执行器发生故障时,首先量化出此时的故障状态并实时传递给自适应容错控制器,容错控制器根据目前转向执行器的残余状态和车辆的行驶状态计算出所需的附加横摆力矩,进而利用轮毂电机差动驱动和残余转向执行器共同完成车辆转向功能,若转向执行器故障之后导致车辆无法保持在稳定区域内,则转向降级并停车处理。本发明能够针对线控转向系统不同失效类型,利用四轮轮毂电机差动驱动和残余转向执行器完成车辆转向,在保证车辆具备转向功能的同时降低成本。
Steering control method and equipment for four-wheel independent driving and steering electric automobile
一种四轮独立驱动与转向电动汽车的转向控制方法及设备
2025-04-18
Patent
Electronic Resource
Chinese
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