CN109774791A - A kind of electronic wheel system of line traffic control four-wheel active steering and its turn to fault tolerant control method - Google Patents
A kind of electronic wheel system of line traffic control four-wheel active steering and its turn to fault tolerant control method Download PDFInfo
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- CN109774791A CN109774791A CN201910057136.9A CN201910057136A CN109774791A CN 109774791 A CN109774791 A CN 109774791A CN 201910057136 A CN201910057136 A CN 201910057136A CN 109774791 A CN109774791 A CN 109774791A
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Abstract
The invention discloses a kind of electronic wheel system of line traffic control four-wheel active steering and its turn to fault tolerant control method, the system includes steering wheel, steering wheel angle sensor, two steering motors, two motor control units, motor fault detection device, two rack and pinion steering gears, two track rods, four wheels and hub motor, yaw-rate sensor, vehicle speed sensor, laser radar, vehicle-mounted vidicon and full-vehicle control unit, in the process of moving, finished vehicle electronic control unit acquires steering wheel angle in real time, yaw velocity, speed, laser radar signal and vehicle-mounted vidicon signal, the output torque of front and back wheel corner and four hub motors is calculated by the controller of design and these signals are transmitted to each electric machine controller, electric machine controller sends current signal to motor and completes steering operation；The present invention can effectively solve the problem that the problem of wire controlled four wheel steering System Fault Tolerance, improve the safety of vehicle driving.
Description
Technical field
The present invention relates to vehicle active control field, the electronic wheel system of especially a kind of line traffic control four-wheel active steering and its turn
To fault tolerant control method.
Background technique
Steering system largely influences driving safety and the manipulation of automobile as one of big system of automobile chassis four
Stability.The development course of steering system is mechanical steering system earliest, but this steering system structural is many and diverse, and transmission ratio is solid
It is fixed, it is unfavorable for realizing that the safety and stability of the light-weight design of automobile and driver drive.Wire-controlled steering system eliminates steering wheel
Mechanical connection between deflecting roller is turned to using sensor acquisition driver and is intended to be subsequently sent to turn to actuator to complete
It turns to.Compared to traditional mechanical steering system, wire-controlled steering system have it is corresponding rapidly, turn to flexibly, reduce car weight, save empty
Between the advantages that.
Meanwhile with the development of automotive engineering, vehicle active safety is paid more and more attention.Vehicle four-wheel alignment is to improve
One of important method of automobile active safety.Wire controlled four wheel steering system, front wheels and rear wheels are all made of the drive of steering-by-wire motor
Vehicle wheel rotation, compared to nose wheel steering, the advantages of four-wheel steering system is that front and back wheel can be rotated independently, is reduced
Side slip angle when steering, improve flexibility when automobile low speed turns to and when high speed steering and stability, improve
The control stability and driving safety of automobile.
But compared to traditional mechanical steering system, the disadvantage of wire-controlled steering system maximum is exactly that its reliability is poor,
Steering system, which exists, turns to a possibility that out of control, this for automobile is on the way extremely hazardous for travelling.
The existing faults-tolerant control about steering-by-wire focuses mostly on for the fault-tolerant of wire-controlled steering system.Such as bi-motor
Redundancy wire-controlled steering system solves the problems, such as that wire-controlled steering system is fault-tolerant by the method that motor backs up, after an electrical fault also
Can be by another motor steering, but this will increase manufacturing cost, and can occupy greater room and keep system increasingly complex.And
And the emergency reaction and path trace problem of driver after failure occurs is not accounted in faults-tolerant control, it is likely to result in and drives
The person's of sailing radical response but vehicle deviate destination path.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of electronic wheel system of line traffic control four-wheel active steering and its turning to fault-tolerant control
Method processed.It is intended to make full use of the advantage of the electronic wheel system steering actuator redundancy of wire controlled four wheel steering and combines path trace control
Technology processed remains to normally mitigate failure by the target of driver intention track path after reaching wire-controlled steering system failure
The psychological burden and operating burden of driver afterwards, improves the safety and stability of vehicle driving.In addition, with traditional bi-motor
Redundancy wire-controlled steering system is compared, and alleviates car weight and production cost, and provide base for the application of intelligent driving auxiliary system
Plinth.
To achieve the above object, the invention proposes the following technical solutions to be achieved:
A kind of electronic wheel system of line traffic control four-wheel active steering includes: car body and is placed in the steering wheel 9 of vehicle body, direction
Disk rotary angle transmitter 10, rear-axle steering motor 4, front-wheel steer motor 14, rear-axle steering electric machine controller 5, front-wheel steer motor
It is controller 13, rear-wheel motor fault detection means 2, front-wheel motor fault detection device 16, backgear rack-type steering gear 3, preceding
Rack and pinion steering gear 15, rear-axle steering drag link 6, front-wheel steer drag link 12, first wheel motor 1, the second wheel hub electricity
Machine 7, third hub motor 11, fourth round hub motor 17, yaw-rate sensor 19, side slip angle sensor 20, speed
Sensor 21, laser radar 22, vehicle-mounted vidicon 23, finished vehicle electronic control unit 8 (ECU) and CAN bus 18；
Wherein, rear-axle steering motor 4 is located at vehicle rear axle, electric with backgear rack-type steering gear 3, rear-axle steering respectively
Machine controller 5, rear-wheel motor fault detection means 2 connect, and backgear rack-type steering gear 3 is located on rear-axle steering drag link 6,
6 both ends of rear-axle steering drag link are respectively equipped with first wheel motor 1 and the second hub motor 7, first wheel motor 1 and the second wheel
Hub motor 7 is connected with corresponding wheel；Rear-axle steering motor 4 drives backgear rack-type steering gear 3 mobile, and then turns after driving
First wheel motor 1 and the second hub motor 7 are driven to drag link 6, to drive corresponding vehicle wheel rotation, realizes turning for wheel
To；
Front-wheel steer motor 14 is located at automobile front-axle, respectively with nipper rack-and-pinion steering-gear 15, front-wheel steer motor
Controller 13, front-wheel motor fault detection device 16 connect, and nipper rack-and-pinion steering-gear 15 is located at front-wheel steer drag link 12
On, 12 both ends of front-wheel steer drag link are respectively equipped with third hub motor 11 and fourth round hub motor 17, third hub motor 11
It is connected with corresponding wheel with fourth round hub motor 17；Front-wheel steer motor 14 drives nipper rack-and-pinion steering-gear 15 mobile,
And then drive front steering drag link 12 to drive third hub motor 11 and fourth round hub motor 17 and drive corresponding wheel, realize vehicle
Steering；
Steering wheel 9 is located in car body, and steering wheel angle sensor 10 is connected by wheel steering tubing string with steering wheel 9,
Obtain steering wheel angle signal；
Front-wheel motor fault detection device 16 is connected with CAN bus 18, for detecting the failure of front-wheel steer motor 14 simultaneously
It is sent fault-signal in CAN bus 18 by CAN transceiver；Rear-wheel motor fault detection means 2 and 18 phase of CAN bus
Even, for detecting the failure of rear-axle steering motor 4 and being sent fault-signal in CAN bus 18 by CAN transceiver；
Yaw-rate sensor 19, vehicle speed sensor 21, laser radar 22, vehicle-mounted is taken the photograph side slip angle sensor 20
Camera 23 is respectively provided on the car body, be respectively used to obtain automobile yaw rate signal, side slip angle signal, speed signal,
Road barrier status signals and lane status signals；Yaw-rate sensor 19, side slip angle sensor 20, speed pass
Sensor 21, laser radar 22, vehicle-mounted vidicon 23 are connect with CAN bus 18 respectively, and will be received by CAN transceiver
Signal be sent to CAN bus 18；
Rear-axle steering electric machine controller 5 and front-wheel steer electric machine controller 13 are connect with CAN bus 18 respectively, receive CAN
The signal that bus 18 is transmitted；
Finished vehicle electronic control unit 8 is connected by CAN transceiver with CAN bus 18, and is received CAN bus 18 and passed through sideway
The letter that angular-rate sensor 19, side slip angle sensor 20,21 laser radar 22 of vehicle speed sensor, vehicle-mounted vidicon 23 obtain
Number；Finished vehicle electronic control unit 8 is also connected with steering wheel angle sensor 10, and obtains steering wheel angle signal；Finished vehicle electronic
The steering wheel angle signal that control unit 8 is transmitted according to steering wheel angle sensor 10 is calculated forward and backward by built-in controller
The driving moment of wheel corner and four wheels is sent in CAN bus 18；
Rear-axle steering electric machine controller 5, front-wheel steer electric machine controller 13, first wheel motor 1, the second hub motor 7,
Third hub motor 11, fourth round hub motor 17 are respectively equipped with CAN transceiver, rear-axle steering electric machine controller 5, front-wheel steer
Electric machine controller 13, first wheel motor 1, the second hub motor 7, third hub motor 11, fourth round hub motor 17 lead to respectively
It crosses its respective CAN transceiver to be connected with CAN bus 18, receives finished vehicle electronic control unit 8 and turned by what CAN bus 18 issued
To the target rotation angle and target torque of motor.
Rear-axle steering electric machine controller 5 generates corresponding electric current according to the angular signal obtained from CAN bus 18, after control
It takes turns steering motor 4 to work, first wheel motor 1 and the second hub motor 7 are generated according to the dtc signal obtained from CAN bus 18
Corresponding current control hub motor and the work of corresponding wheel.
Front-wheel steer electric machine controller 13 generates corresponding electric current control according to the angular signal obtained from CAN bus 18 respectively
Front-wheel steer motor 14 processed works, hub motor control device described in third hub motor 11 and fourth round hub motor 17 according to from
The dtc signal that CAN bus 18 obtains generates corresponding current control hub motor and the work of corresponding wheel.
Finished vehicle electronic control unit 8 is ECU module, including sequentially connected path planning module, Driver Model, steady
Qualitative contrlol module and fault-tolerant control module.
In the present invention, term " front-wheel " refers to wheel corresponding with third hub motor and fourth round hub motor；Term " after
Wheel " refers to wheel corresponding with first wheel motor and the second hub motor.
Further, in the electronic wheel system of line traffic control four-wheel active steering provided by the present invention, rear-axle steering motor 4 and front-wheel
Steering motor 14 is permanent-magnet brushless DC electric machine.
The present invention additionally provides the steering fault tolerant control method of the above-mentioned electronic wheel system of line traffic control four-wheel active steering simultaneously: whole
In vehicle electronic control unit 18, stability control module and fault-tolerant control module are according to motor fault detection device 16 to vehicle
The signal that electronic control unit 18 is sent carries out the switching of controller；When front-wheel steer motor 14 does not break down, motor event
Hinder detection device 16 and send low level to finished vehicle electronic control unit 18, control unit operation stability control module is carried out steady
Qualitative contrlol strategy；When front-wheel steer motor 14 breaks down, motor fault detection device 16 is to finished vehicle electronic control unit
18 send high level, and control unit runs fault-tolerant control module, carry out faults-tolerant control strategy.
Aforementioned stable control strategy comprises the steps of:
Step 1), driver turn steering wheel, finished vehicle electronic control unit 18 pass through the steering wheel angle sensor side of obtaining
To disk corner δsw, ideal yaw velocity w is obtained by formula (1)*With ideal side slip angle β*:
In formula (1)-(3), GwFor the variable ratio coefficient of setting, vxFor speed, L is vehicle wheelbase, KsFor yaw velocity
Gain coefficient (general value 15-20), K are stability factor, and m is complete vehicle quality, k1、k2Respectively automobile front and back wheel lateral deviation is rigid
Degree；
Step 2), stability control module calculate yaw velocity deviation wd, side slip angle deviation βd
Ideal yaw velocity w*With ideal side slip angle β*With the practical yaw velocity w and matter measured by sensor
Heart side drift angle β makees poor obtain:
W is the practical yaw velocity that sensor measures, and β is the actually measured side slip angle of sensor, wdFor sideway
Angular speed deviation, βdFor side slip angle deviation；
Formula (4) are substituted by structured singular value μ control algolithm formula (5), stability control module is substituted into, calculate front wheel angle
δfWith rear-wheel corner δr；
The faults-tolerant control strategy comprises the steps of:
Step 1:
If 1.1 front-wheel steer electrical faults
Fault-tolerant control module is according to the transmission ratio i between the rear-wheel and steering wheel of settingrCalculate rear-wheel corner δr；
Wherein, δswIndicate steering wheel angle；δrIndicate rear-wheel corner；ifValue range is between -15 to -20；
If 1.2 rear-axle steering electrical faults
Fault-tolerant control module is according to the transmission ratio i between the front-wheel and steering wheel of settingfCalculate rear-wheel corner δf:
Wherein, δswIndicate steering wheel angle；δfIndicate rear-wheel corner.ifValue range is between 15-20；
Step 2:
In finished vehicle electronic control unit 18 path planning module receive laser radar signal and vehicle-mounted vidicon signal according to
Built-in path planning algorithm generates expected path Y*And it sends expected path signal in fault-tolerant control module；
Above-mentioned path planning algorithm is this field conventional algorithm, as " An Linfang, Chen Tao, Cheng Aiguo, et al. are based on document
Intelligent vehicle Path Planning Simulation [J] automobile engineering of Artificial Potential Field algorithm, the path planning algorithm disclosed in 2017. "；
Step 3:
Driver Model is according to expected path Y in finished vehicle electronic control unit 18*With the difference of Actual path Y-signal:
Δ Y=Y*-Y (8)
Desired driver is obtained to the corner δ of steering wheel according to built-in Single-point preview pilot model algorithm (9)fdConcurrently
It is sent in fault-tolerant control module；
Wherein, δfdIt is corner of the desired driver to steering wheel, GhIt is ratio of turning coefficient, τLIt is derivative time；τd1
It is the operating delay time；τd2It is pilot's time delay；
Step 4:
The yaw rate w that finished vehicle electronic control unit 18 is measured by yaw-rate sensor, vehicle speed sensor
It is transmitted in fault-tolerant control module with speed v signal；
Step 5:
Fault-tolerant control module is according to driver to the corner δ of steering wheelsw, expected path Y*, desired driver is to direction
The corner δ of diskfdAnd vehicle virtual condition obtains four hub motor target drives torque T of vehicle1,T2,T3,T4；
Step 6:
The front and back wheel angular signal δ that finished vehicle electronic control unit 18 is calculated according to above-mentioned steps 1-6fOr δrAnd T1,
T2,T3,T4, front-wheel steer electric machine controller or rear-axle steering motor control are separately sent to from finished vehicle electronic control unit 18
In device and four hub motor control devices, electric machine controller generates corresponding electric current and drives corresponding motor rotation, realizes vehicle
Traveling.
Compared with prior art, the invention has the following advantages:
1. the present invention devise a kind of electronic wheel system of line traffic control four-wheel active steering, it can be achieved that front and rear wheel active steering
It is driven with the independence of four-wheel.It, can real-time detection steering system failure equipped with steering system fault detection means.Assemble laser radar
With vehicle-mounted vidicon, it can be achieved that Path Recognition and planning.System structure is simple, easy to operate, cheap, it is easy to accomplish.
2. the present invention two steering controllers of setting: stability control module and fault-tolerant control module.Normal work can be achieved
The faults-tolerant control under stability control and fault condition under condition.Meanwhile this system can realize Path Recognition and planning, failure hair
After life this system remain to normally mitigate by the target of driver intention track path after failure occurs the psychological burden of driver and
Operating burden improves the safety and stability of vehicle driving.
Detailed description of the invention
Fig. 1 is the structure chart of the electronic wheel system of wire controlled four wheel steering provided by the invention；
Fig. 2 is faults-tolerant control strategy schematic diagram；
Fig. 3 is faults-tolerant control strategy schematic diagram.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing:
In following embodiment, finished vehicle electronic control unit 18 (i.e. ECU) selects the model EDC of BOSCH company production
The automobile-used ECU of 17CP14/5/P680.
Embodiment 1
As shown in Figure 1, on the basis of existing wire-controlled steering system, to design a kind of four-wheel active steering electronic by the present invention
Wheel system.Built-in two kinds of steering controllers in central controller: stability control module and fault-tolerant control module.Under nominal situation
The work of stability control module, front and rear wheel corner is by central controller according to steering wheel angle, yaw-rate sensor, matter
Heart lateral deviation angle transducer, vehicle speed sensor signal calculate front and rear wheel corner and are sent to front and rear wheel steering motor controller
In, then front and rear wheel steering motor controller generates the corresponding motor rotation of corresponding current control.Fault-tolerant control under fault condition
The work of molding block, according to the fault message obtained from steering motor fault detection means, central controller selection is corresponding fault-tolerant
Control module and bonding position disk corner, yaw velocity, side slip angle, speed, laser radar and vehicle-mounted vidicon signal
Calculate the driving moment of front and rear wheel corner and four hub motors and it is corresponding be sent to front and rear wheel steering motor controller and
In hub motor control device, then front and rear wheel steering motor controller and the corresponding generation of hub motor control device are corresponding electric
The rotation of flow control motor.
Specifically, the electronic wheel system of wire controlled four wheel steering provided in this embodiment includes: steering wheel 9, steering wheel angle
Sensor 10, rear-axle steering motor 4, front-wheel steer motor 14, rear-axle steering electric machine controller 5, front-wheel steer electric machine controller
13, rear-wheel motor fault detection means 2, front-wheel motor fault detection device 16, backgear rack-type steering gear 3, the nipper gear teeth
Article formula diverter 15, rear-axle steering drag link 6, front-wheel steer drag link 12, first wheel motor 1, the second hub motor 7,
Three-hub motor 11, fourth round hub motor 17, yaw-rate sensor 19, side slip angle sensor 20, vehicle speed sensor
21, laser radar 22, vehicle-mounted vidicon 23, finished vehicle electronic control unit 8 (ECU) and CAN bus 18；
Wherein, rear-axle steering motor 4 is located at vehicle rear axle, electric with backgear rack-type steering gear 3, rear-axle steering respectively
Machine controller 5, rear-wheel motor fault detection means 2 connect, and backgear rack-type steering gear 3 is located on rear-axle steering drag link 6,
6 both ends of rear-axle steering drag link are respectively equipped with first wheel motor 1 and the second hub motor 7, first wheel motor 1 and the second wheel
Hub motor 7 is connected with corresponding wheel；Rear-axle steering motor 4 drives backgear rack-type steering gear 3 mobile, and then turns after driving
First wheel motor 1 and the second hub motor 7 are driven to drag link 6, to drive corresponding vehicle wheel rotation, realizes turning for wheel
To；
Front-wheel steer motor 14 is located at automobile front-axle, respectively with nipper rack-and-pinion steering-gear 15, front-wheel steer motor
Controller 13, front-wheel motor fault detection device 16 connect, and nipper rack-and-pinion steering-gear 15 is located at front-wheel steer drag link 12
On, 12 both ends of front-wheel steer drag link are respectively equipped with third hub motor 11 and fourth round hub motor 17, third hub motor 11
It is connected with corresponding wheel with fourth round hub motor 17；Front-wheel steer motor 14 drives nipper rack-and-pinion steering-gear 15 mobile,
And then drive front steering drag link 12 to drive third hub motor 11 and fourth round hub motor 17 and drive corresponding wheel, realize vehicle
Steering；
Steering wheel 9 is located in car body, and steering wheel angle sensor 10 is connected by wheel steering tubing string with steering wheel 9,
Obtain steering wheel angle signal；
Front-wheel motor fault detection device 16 is connected with CAN bus 18, for detecting the failure of front-wheel steer motor 14 simultaneously
It is sent fault-signal in CAN bus 18 by CAN transceiver；Rear-wheel motor fault detection means 2 and 18 phase of CAN bus
Even, for detecting the failure of rear-axle steering motor 4 and being sent fault-signal in CAN bus 18 by CAN transceiver；
Yaw-rate sensor 19, vehicle speed sensor 21, laser radar 22, vehicle-mounted is taken the photograph side slip angle sensor 20
Camera 23 is respectively provided on the car body, be respectively used to obtain automobile yaw rate signal, side slip angle signal, speed signal,
Road barrier status signals and lane status signals；Yaw-rate sensor 19, side slip angle sensor 20, speed pass
Sensor 21, laser radar 22, vehicle-mounted vidicon 23 are connect with CAN bus 18 respectively, and will be received by CAN transceiver
Signal be sent to CAN bus 18；
Rear-axle steering electric machine controller 5 and front-wheel steer electric machine controller 13 are connect with CAN bus 18 respectively, receive CAN
The signal that bus 18 is transmitted；
Finished vehicle electronic control unit 8 is connected by CAN transceiver with CAN bus 18, and is received CAN bus 18 and passed through sideway
The letter that angular-rate sensor 19, side slip angle sensor 20,21 laser radar 22 of vehicle speed sensor, vehicle-mounted vidicon 23 obtain
Number；Finished vehicle electronic control unit 8 is also connected with steering wheel angle sensor 10, and obtains steering wheel angle signal；Finished vehicle electronic
The steering wheel angle signal that control unit 8 is transmitted according to steering wheel angle sensor 10 is calculated forward and backward by built-in controller
The driving moment of wheel corner and four wheels is sent in CAN bus 18；
Rear-axle steering electric machine controller 5, front-wheel steer electric machine controller 13, first wheel motor 1, the second hub motor 7,
Third hub motor 11, fourth round hub motor 17 are respectively equipped with CAN transceiver, rear-axle steering electric machine controller 5, front-wheel steer
Electric machine controller 13, first wheel motor 1, the second hub motor 7, third hub motor 11, fourth round hub motor 17 lead to respectively
It crosses its respective CAN transceiver to be connected with CAN bus 18, receives finished vehicle electronic control unit 8 and turned by what CAN bus 18 issued
To the target rotation angle and target torque of motor.
Rear-axle steering electric machine controller 5 generates corresponding electric current according to the angular signal obtained from CAN bus 18, after control
It takes turns steering motor 4 to work, first wheel motor 1 and the second hub motor 7 are generated according to the dtc signal obtained from CAN bus 18
Corresponding current control hub motor and the work of corresponding wheel.
Front-wheel steer electric machine controller 13 generates corresponding electric current control according to the angular signal obtained from CAN bus 18 respectively
Front-wheel steer motor 14 processed works, hub motor control device described in third hub motor 11 and fourth round hub motor 17 according to from
The dtc signal that CAN bus 18 obtains generates corresponding current control hub motor and the work of corresponding wheel.
Finished vehicle electronic control unit 8 is ECU module, including sequentially connected path planning module, Driver Model, steady
Qualitative contrlol module and fault-tolerant control module.
In the present embodiment, rear-axle steering motor 4 and front-wheel steer motor 14 are permanent-magnet brushless DC electric machine.
The present embodiment provides the steering fault tolerant control method of the above-mentioned electronic wheel system of line traffic control four-wheel active steering simultaneously:
Two controllers, stability control module and fault-tolerant control module built in above-mentioned finished vehicle electronic control unit 18, two
Person carries out the switching of controller according to the signal that motor fault detection device 16 is sent to finished vehicle electronic control unit 18；Work as front-wheel
When steering motor 14 does not break down, motor fault detection device 16 sends low level, control to finished vehicle electronic control unit 18
Unit operation stability control module carries out stability control strategy；When front-wheel steer motor 14 breaks down, electrical fault
Detection device 16 sends high level to finished vehicle electronic control unit 18, and control unit runs fault-tolerant control module, carries out fault-tolerant control
System strategy.
As shown in Fig. 2, the stability control strategy comprises the steps of:
Step 1), driver turn steering wheel, finished vehicle electronic control unit 18 pass through the steering wheel angle sensor side of obtaining
To disk corner δsw, ideal yaw velocity w is obtained by formula (1)*With ideal side slip angle β*:
In formula (1)-(3), GwFor the variable ratio coefficient of setting, vxFor speed, L is vehicle wheelbase, KsFor yaw velocity
Gain coefficient (general value 15-20), K are stability factor, and m is complete vehicle quality, k1、k2Respectively automobile front and back wheel lateral deviation is rigid
Degree；
Step 2), stability control module calculate yaw velocity deviation wd, side slip angle deviation βd:
Ideal yaw velocity w*With ideal side slip angle β*With the practical yaw velocity w and matter measured by sensor
Heart side drift angle β makees poor obtain:
W is the practical yaw velocity that sensor measures, and β is the actually measured side slip angle of sensor, wdFor sideway
Angular speed deviation, βdFor side slip angle deviation.
Formula (4) are substituted into the stability control module obtained by structured singular value μ control algolithm (5), calculate front wheel angle
δfWith rear-wheel corner δr；
As shown in Fig. 3, the faults-tolerant control strategy comprises the steps of:
Step 1:
If 1.1 front-wheel steer electrical faults
Fault-tolerant control module is according to the transmission ratio i between the rear-wheel and steering wheel of settingrCalculate rear-wheel corner δr；
Wherein, δswIndicate steering wheel angle；δrIndicate rear-wheel corner；ifValue range is between -15 to -20；
If 1.2 rear-axle steering electrical faults
Fault-tolerant control module is according to the transmission ratio i between the front-wheel and steering wheel of settingfCalculate rear-wheel corner δf:
Wherein, δswIndicate steering wheel angle；δfIndicate rear-wheel corner.ifValue range is between 15-20；
Step 2:
In finished vehicle electronic control unit 18 path planning module receive laser radar signal and vehicle-mounted vidicon signal according to
Built-in path planning algorithm generates expected path Y*And it sends expected path signal in fault-tolerant control module；
Referring to document, " An Linfang, Chen Tao, Cheng Aiguo, et al. are based on path planning algorithm used in the present embodiment
Intelligent vehicle Path Planning Simulation [J] automobile engineering of Artificial Potential Field algorithm, the algorithm disclosed in 2017. "；
Step 3:
Driver Model is according to expected path Y in finished vehicle electronic control unit 18*With the difference of Actual path Y-signal:
Δ Y=Y*-Y (8)
Desired driver is obtained to the corner δ of steering wheel according to built-in Single-point preview pilot model algorithm (9)fdConcurrently
It is sent in fault-tolerant control module K；
In formula (9), δfdIt is corner of the desired driver to steering wheel, GhIt is ratio of turning coefficient, τLIt is derivative time；
τd1It is the operating delay time；τd2It is pilot's time delay；
Step 4:
The yaw rate w and speed v signal measured by yaw-rate sensor, vehicle speed sensor is transmitted to appearance
In wrong control module；
Step 5:
Fault-tolerant control module is according to driver to the corner δ of steering wheelsw, expected path Y*, desired driver is to direction
The corner δ of diskfdAnd vehicle virtual condition obtains four hub motor target drives torque T of vehicle1,T2,T3,T4；
Step 6:
The front and back wheel angular signal δ that finished vehicle electronic control unit 18 is calculated according to above-mentioned steps 1-6fOr δrAnd T1,
T2,T3,T4, front-wheel steer electric machine controller or rear-axle steering motor control are separately sent to from finished vehicle electronic control unit 18
In device and four hub motor control devices, electric machine controller generates corresponding electric current and drives corresponding motor rotation, realizes vehicle
Traveling.
Claims (4)
1. a kind of electronic wheel system of line traffic control four-wheel active steering, including car body, which is characterized in that the line traffic control four-wheel active steering
Electronic wheel system includes: the steering wheel for being set to vehicle body, rear-axle steering motor, front-wheel rear-axle steering motor, finished vehicle electronic
Control unit, CAN bus；
The steering wheel is connected with steering wheel angle sensor；
The rear-axle steering motor respectively with backgear rack-type steering gear, rear-axle steering electric machine controller, rear-wheel motor failure
The rear-axle steering motor of detection device connection；Backgear rack-type steering gear is located on rear-axle steering drag link, rotates after described
First wheel motor and the second hub motor are respectively equipped with to drag link both ends；First wheel motor and the second hub motor are divided equally
It is not connected with corresponding wheel；
The front-wheel steer motor respectively with nipper rack-and-pinion steering-gear, front-wheel steer electric machine controller, front-wheel electrical fault
Detection device connection；Nipper rack-and-pinion steering-gear is located on front-wheel steer drag link, front-wheel steer drag link both ends point
Not She You third hub motor and fourth round hub motor, third hub motor and fourth round hub motor connect with corresponding wheel respectively
It connects；
The finished vehicle electronic control unit includes path planning module, Driver Model, stability control module and faults-tolerant control
Module；
The front-wheel motor fault detection device, rear-wheel motor fault detection means, finished vehicle electronic control are single total with CAN respectively
Line is connected；
Yaw-rate sensor, side slip angle sensor, vehicle speed sensor, laser thunder are also respectively provided on the car body
It reaches, vehicle-mounted vidicon, they connect with CAN bus respectively；
Rear-axle steering electric machine controller, front-wheel steer electric machine controller, first wheel motor, the second hub motor, third wheel hub
Motor, fourth round hub motor are respectively equipped with CAN transceiver, rear-axle steering electric machine controller, front-wheel steer electric machine controller,
One hub motor, the second hub motor, third hub motor, fourth round hub motor pass through respectively its respective CAN transceiver with
CAN bus is connected.
2. the electronic wheel system of line traffic control four-wheel active steering according to claim 1, which is characterized in that the rear-axle steering electricity
Machine and front-wheel steer motor are permanent-magnet brushless DC electric machine.
3. the steering fault tolerant control method of the electronic wheel system of line traffic control four-wheel active steering as claimed in claim 1 or 2, spy exists
In, the specific steps are as follows: the finished vehicle electronic control unit includes stability control module and fault-tolerant control module；Stability control
Molding block and fault-tolerant control module are controlled according to motor fault detection device to the signal that finished vehicle electronic control unit is sent
The switching of device；
When front-wheel steer motor does not break down, motor fault detection device sends low level to finished vehicle electronic control unit,
Control unit operation stability control module carries out stability control strategy；
When front-wheel steer motor breaks down, motor fault detection device sends high level, control to finished vehicle electronic control unit
Unit processed runs fault-tolerant control module, carries out faults-tolerant control strategy.
4. steering fault tolerant control method according to claim 3, which is characterized in that the stability control strategy include with
Lower step:
Step 1), driver turn steering wheel, finished vehicle electronic control unit obtain steering wheel by steering wheel angle sensor and turn
Angle δsw, ideal yaw velocity w is obtained by formula (1)-(3)*With ideal side slip angle β*:
In formula (1)-(3), GwFor the variable ratio coefficient of setting, vxFor speed, L is vehicle wheelbase, KsFor yaw velocity gain
Coefficient, K are stability factor, and m is complete vehicle quality, k1、k2Respectively automobile front and back wheel cornering stiffness；
Step 2) calculates yaw velocity deviation wd, side slip angle deviation βd
Ideal yaw velocity w*With ideal side slip angle β*With the practical yaw velocity w and mass center side measured by sensor
Drift angle β makees poor obtain:
In formula (4), w is the practical yaw velocity that sensor measures, and β is the actually measured side slip angle of sensor, wdFor cross
Pivot angle velocity deviation, βdFor side slip angle deviation；
Formula (4) are substituted into the stability control module obtained by structured singular value μ control algolithm (5), calculate front wheel angle δfWith it is rear
Take turns corner δr；
The faults-tolerant control strategy comprises the steps of:
Step 1:
If front-wheel steer electrical fault:
Then according to the transmission ratio i between the rear-wheel of setting and steering wheelrCalculate rear-wheel corner δr；
Wherein, δswIndicate steering wheel angle；δrIndicate rear-wheel corner；ifValue range is between -15 to -20；
If rear-axle steering electrical fault:
Then according to the transmission ratio i between the front-wheel of setting and steering wheelfCalculate rear-wheel corner δf:
Wherein, δswIndicate steering wheel angle；δfIndicate rear-wheel corner.ifValue range is between 15-20；
Step 2:
Path planning module receives laser radar signal and vehicle-mounted vidicon signal and generates the phase according to built-in path planning algorithm
Hope path Y*And it sends expected path signal in fault-tolerant control module；
Step 3:
Driver Model is according to expected path Y*With the difference of Actual path Y-signal:
Δ Y=Y*-Y (8)
Desired driver is obtained to the corner δ of steering wheel according to built-in Single-point preview pilot model algorithm (9)fdAnd it is sent to
In fault-tolerant control module；
Wherein, δfdIt is corner of the desired driver to steering wheel, GhIt is ratio of turning coefficient, τLIt is derivative time；τd1It is behaviour
Make delay time；τd2It is pilot's time delay；
Step 4:
The yaw rate w and speed v that finished vehicle electronic control unit is measured by yaw-rate sensor, vehicle speed sensor
Signal is transmitted in fault-tolerant control module；
Step 5:
Fault-tolerant control module is according to driver to the corner δ of steering wheelsw, expected path Y*, desired driver is to steering wheel
Corner δfdAnd vehicle virtual condition obtains four hub motor target drives torque T of vehicle1,T2,T3,T4；
Step 6:
The front and back wheel angular signal δ that finished vehicle electronic control unit is calculated according to above-mentioned steps 1-6fOr δrAnd T1,T2,T3,
T4, front-wheel steer electric machine controller or rear-axle steering electric machine controller and four are separately sent to from finished vehicle electronic control unit
In a hub motor control device, electric machine controller generates corresponding electric current and drives corresponding motor rotation, realizes the traveling of vehicle.
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