CN117184219B - Fault-tolerant control method and device for actuating mechanism of steer-by-wire system - Google Patents
Fault-tolerant control method and device for actuating mechanism of steer-by-wire system Download PDFInfo
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Abstract
The application discloses an actuating mechanism fault-tolerant control device and a method for a steer-by-wire system. Firstly, acquiring electric parameters of an execution motor of a steer-by-wire system, wherein the execution motor is a double three-phase permanent magnet synchronous motor; then inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model; and finally, diagnosing the fault cause of the execution motor and sending electric parameter compensation data to a driving controller of the execution motor according to a diagnosis result so as to realize fault tolerance compensation of the execution motor through the driving controller. Because the drive-by-wire steering actuating mechanism fault tolerance of the double three-phase motor is based, the drive-by-wire steering actuating mechanism has a redundant structure, and the requirement of a vehicle on transverse control high safety can be greatly met.
Description
Technical Field
The application relates to the technical field of automobile steering systems, in particular to a fault-tolerant control method and device for an actuating mechanism of a steer-by-wire system.
Background
The steering-by-wire system of the automobile consists of a steering wheel assembly, a steering execution assembly, a main controller (ECU) and auxiliary systems such as an automatic fault-proof system, a power supply and the like. The steering wheel assembly comprises a steering wheel, a steering wheel angle sensor, a torque sensor and a steering wheel aligning torque motor. The main function of the steering wheel assembly is to convert the steering intention of the driver (by measuring the steering wheel angle) into a digital signal and transmit the digital signal to the main controller; and meanwhile, the moment signal sent by the main controller is received to generate a steering wheel aligning moment so as to provide corresponding road feel information for a driver. The steering execution assembly comprises a front wheel steering angle sensor, a steering execution motor, a steering motor controller, a front wheel steering assembly and the like. The steering execution assembly is used for receiving the command of the main controller, and controlling the steering wheels to rotate through the steering motor controller so as to realize the steering intention of a driver. The main controller analyzes and processes the collected signals, judges the motion state of the automobile, sends instructions to the steering wheel return positive motor and the steering motor, controls the work of the two motors, ensures ideal vehicle response under various working conditions, reduces the compensation task of a driver on the change of the steering characteristic of the automobile along with the change of the speed of the automobile, and lightens the burden of the driver. Meanwhile, the controller can also recognize the operation instruction of the driver and judge whether the steering operation of the driver is reasonable in the current state. When the automobile is in an unstable state or the driver gives out an error command, the steer-by-wire system can shield the error steering operation of the driver, and the automobile is automatically controlled to be stable, so that the automobile is restored to the stable state as soon as possible. The automatic fault-protection system is an important module of the steer-by-wire system, and comprises a series of monitoring and implementation algorithms, and corresponding processing is carried out for different fault forms and fault grades so as to furthest maintain the normal running of the automobile. As one of the most widely used vehicles, the safety of automobiles is the factor that must be considered first, and is the basis of all researches, so that automatic detection and automatic handling of faults are one of the most important constituent systems of steer-by-wire systems. It adopts strict fault detection and processing logic to greatly raise safety performance of automobile.
Disclosure of Invention
The technical problem that this application mainly solves is how to improve linear steering system's security.
According to a first aspect, in one embodiment, there is provided an actuator fault-tolerant control apparatus for a steer-by-wire system, comprising a motor monitoring apparatus, a motor fault diagnosis apparatus, and a motor fault-tolerant compensation apparatus:
the motor monitoring device is used for monitoring the electric parameters of an execution motor of the steer-by-wire system; the execution motor is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function; the execution motor is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-type manner and are separated by an electrical angle of 30 degrees; the electrical parameters comprise electrical parameter data of each winding in two sets of three-phase windings of the execution motor;
the motor fault diagnosis device is used for inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model;
the motor fault tolerance compensation device is used for diagnosing the fault reason of the execution motor when the execution motor is judged to be faulty, and sending electric parameter compensation data to the driving controller of the execution motor according to a diagnosis result, so that the driving controller redistributes the driving current of each winding in the three-phase windings according to the electric parameter compensation data, and fault tolerance compensation of the execution motor is further achieved.
According to a second aspect, in one embodiment, there is provided an actuator fault-tolerant control method for a steer-by-wire system, for application to the actuator fault-tolerant control apparatus according to the first aspect, the actuator fault-tolerant control method comprising:
monitoring an electrical parameter of an execution motor of the steer-by-wire system; the execution motor is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function; the execution motor is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-type manner and are separated by an electrical angle of 30 degrees; the electrical parameters comprise electrical parameter data of each winding in two sets of three-phase windings of the execution motor;
inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model;
when the executing motor is judged to be faulty, diagnosing the fault reason of the executing motor, and sending electric parameter compensation data to a driving controller of the executing motor according to a diagnosis result, so that the driving controller is used for redistributing the driving current of each winding in the three-phase windings according to the electric parameter compensation data, and fault-tolerant compensation of the executing motor is further achieved.
According to a third aspect, an embodiment provides a computer readable storage medium having stored thereon a program executable by a processor to implement the actuator fault tolerance control method of the second aspect.
The fault-tolerant control device for the actuating mechanism is based on the fault tolerance of the steering-by-wire actuating mechanism of the double three-phase motor, has a redundant structure, and can greatly meet the requirement of a vehicle on high safety of transverse control.
Drawings
FIG. 1 is a schematic diagram of a steering-by-wire system in one embodiment;
FIG. 2 is a block diagram of an actuator fault tolerance control device in one embodiment;
FIG. 3 is a fault-tolerant control topology of an electric machine according to one embodiment;
FIG. 4 is a schematic diagram of two-phase four-switch modulation in one embodiment;
FIG. 5 is a flow chart illustrating a fault-tolerant control method of an actuator according to an embodiment.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
Compared with other steering systems, the steer-by-wire System (SBW) cancels the mechanical connection between the steering wheel and the steering wheel, transmits a control command of a driver in an electric signal mode, and realizes steering servo control in a steering wheel silencing mode in the future, so that the steering system becomes an optimal active steering scheme. In order to meet the requirement of high-level automatic driving above L3 for high safety of transverse control of the vehicle, redundant design of steering wheel actuators is necessary. And the double three-phase motor is provided with two sets of three-phase windings, so that the double three-phase motor becomes an ideal steering executing motor. Therefore, fault-tolerant control is performed on the steering-by-wire executing mechanism adopting the double three-phase motor, so that the safety of the steering executing mechanism is improved, and the requirement of high-level automatic driving safety is met.
Currently, there is no research on fault tolerant technology of a steer-by-wire actuator based on a dual three-phase motor. In the document of chinese patent No. CN110949492B, a steering-by-wire fault tolerant device and a control method thereof are disclosed, and a steering-by-wire system with an electromagnetic lock is provided, which can be converted into a power steering mode and a mechanical steering mode when a fault occurs. However, the electromagnetic lock device occupies space, increases cost, and when the electromagnetic lock device fails, the steering wheel needs to be manually operated, so that the requirement of high-level automatic driving above the L3 level can not be met; in the document of the Chinese patent No. CN113815722B, a dual-motor steering mechanism and a redundancy control method thereof are disclosed, and a steering actuating mechanism for realizing mutual redundancy by the joint work of two motors is provided, but the dual motors have inherent defects, high mechanical precision requirements and high cost, and the synchronous work of the two motors is difficult. The fault-tolerant control method of the drive-by-wire steering actuating mechanism based on the double three-phase motors can solve the problems.
Embodiment one:
referring to fig. 1, a schematic structural diagram of a steer-by-wire system in an embodiment mainly includes a steering wheel assembly, a 12V power source, VCU (vehicle control unit), CCU (central control unit), OBD (on board diagnostics), and a steering actuator. The steering wheel assembly mainly comprises a steering wheel, a steering column, ECU (electrical control unit), a torque angle sensor and a road motor (three-phase permanent magnet synchronous motor). The steering executing mechanism comprises an executing motor (double three-phase permanent magnet synchronous motor), two ECUs, a torque rotation angle sensor, a gear rack steering gear and a synchronous belt ball screw speed reducing mechanism. The steering wheel assembly, the steering actuating mechanism and the CCU are communicated through CANFD, and the control of the steering wheel assembly and the steering actuating mechanism is carried out by utilizing the CCU; the VCU and the CCU are communicated through a CAN bus, and the CCU receives the whole vehicle communication information through the CAN. In the steering wheel assembly, a torque angle sensor reads corresponding torque angle information and sends the corresponding torque angle information to a road sensing motor ECU; in the steering actuating mechanism, a current sensor, a motor position sensor and a torque rotation angle sensor read corresponding information and send the information to two ECUs corresponding to two sets of windings of an actuating motor. The power supply of the steering-by-wire system consists of two 12V power supplies, and the high-voltage battery of the whole vehicle supplies power to the two 12V power supplies through DC/DC conversion. One of the 12V power supplies power to one of the road sensing motor ECU, VCU and the one of the ECU executing the motor. And the other 12V power supply supplies power to the other ECU of the execution motor so as to ensure that the execution motor can work normally when one 12V power supply fails. The CCU is simultaneously powered by two 12V power supplies, so that the CCU can not work normally when a single power supply fails. The CAN bus of the OBD and steering system is connected with the CANFD, all communication information of the steering system is received, fault diagnosis of the steering system is carried out, so that the steering system CAN be subjected to fault-tolerant control in time, normal operation of the steering system is ensured, and safety of a vehicle is ensured.
Referring to fig. 2, a block diagram of an embodiment of an actuator fault-tolerant control device includes a motor monitoring device 1, a motor fault diagnosis device 2, and a motor fault-tolerant compensation device 3. The motor monitoring device 1 is used for monitoring electric parameters of an execution motor 5 of the steer-by-wire system, and the execution motor 5 is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function. The execution motor 5 is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-shaped mode and are separated by an electrical angle of 30 degrees. The electrical parameters of the execution motor 5 include electrical parameter data for each of the two sets of three-phase windings of the execution motor. The motor fault diagnosis device 2 is used for inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model. The motor fault tolerance compensation device 3 is configured to diagnose a fault cause of the execution motor 5 when it is determined that the execution motor 5 fails, and send electrical parameter compensation data to the driving controller 4 of the execution motor according to a diagnosis result, so that the driving controller 4 redistributes a driving current of each winding in the three-phase windings according to the electrical parameter compensation data, thereby implementing fault tolerance compensation for the execution motor 5.
In one embodiment, the formula of the mathematical model of the normal operation of the winding is:
；
wherein i is d To perform d-axis current of a single winding of the motor, i q Q-axis current of single winding of execution motor, L d To implement electric machinesD-axis inductance of single winding, L q To perform q-axis inductance of a single winding of the motor, u d To perform a single winding d-axis voltage of the motor, u q To perform a single winding q-axis voltage of the motor, R is the stator resistance of the motor and ω is the rotor electrical angular speed of the motor.
In an embodiment, the electrical parameter residual data is a difference between a motor current value of the executing motor 5 in normal operation and a motor current monitoring value of the monitoring executing motor 5, and the obtained current residual values of d-axis and q-axis of each set of three-phase windings of the executing motor 5 are expressed as follows:
；
wherein,、/>and->The current residual value of each winding in a set of three-phase windings in the execution motor is +.>And->And the current residual values of the d axis and the q axis of each set of three-phase winding of the execution motor are respectively, and theta is the electrical rotation angle of the execution motor. The current residual value is obtained by subtracting the actual measured value from the current value calculated by the above formula.
In one embodiment, diagnosing a fault condition of the execution motor according to electrical parameter residual data output by a mathematical model of normal operation of the winding includes:
and comparing the proportion value of the current residual value of at least one set of three-phase winding in the execution motor with a preset proportion value, and judging the fault state of the execution motor according to the comparison result. For example, when the ratio of the current residual values of a set of three-phase windings satisfies 2: -1: at-1, it is indicated that the phase with the current residual ratio of 2 in the set of windings is out of phase, and fault-tolerant control is needed for the phase.
In one embodiment, the motor fault tolerance compensation device 3 diagnoses a fault cause of the execution motor 5 includes:
i is adopted for the executing motor d Vector control of =0 and diagnosing a fault state of the execution motor by isolating single-phase windings one by one, wherein the fault state of the execution motor comprises a normal operation mode, a phase-loss operation mode, a double-phase-loss operation mode and/or a single-winding operation mode.
In one embodiment, the motor fault tolerance compensation device 3 sends electrical parameter compensation data to the driving controller 4 executing the motor 5 according to the diagnosis result, so that the driving controller 4 redistributes the driving current of each of the three-phase windings according to the electrical parameter compensation data, and specifically includes: when the fault state of the execution motor is in a normal working mode, the q-axis expected currents of the two sets of three-phase windings are the same; when the fault state of the execution motor is a phase-missing operation mode, that is, one of the three-phase windings fails, the ratio of the q-axis expected current of the phase-missing three-phase winding to the q-axis expected current of the non-phase-missing three-phase winding is 0.366:0.634; when the fault state of the execution motor is a double open-phase working mode, namely when one winding in the two sets of three-phase windings fails, the q-axis expected currents of the two sets of three-phase windings are the same; when the fault state of the execution motor is a single-winding working mode, namely, one set of three-phase windings have faults, the three-phase windings which have no faults work independently.
The manner in which the drive current for each of the three-phase windings is redistributed to the execution motor based on the diagnostic results is described below with respect to one embodiment.
Referring to fig. 3, a fault-tolerant control topology of the electric machine is shown in an embodiment, in which the switch KA, KB, KC, KX, KY, KZ is closed and the switches KN1 and KN2 are opened when the electric machine is operating normally. At the moment, two sets of windings adopt an SVPWM modulation mode, and q-axis expected current corresponding to the ABC phase winding and the XYZ phase winding is adoptedAnd->The method meets the following conditions:
；
；
wherein,the sum of q-axis currents is expected for two sets of windings of a double three-phase motor.
When a single fault (open circuit, short circuit, etc.) occurs in the execution motor and its inverter, the switch corresponding to the fault is opened, and the switch (KN 1 or KN 2) corresponding to the winding where the fault phase is located and connected to the midpoint of the capacitor is closed. At this time, the normal working winding adopts an SVPWM modulation mode, and the fault working winding adopts a two-phase four-switch modulation mode. To balance the currents of each phase, q-axis expected current corresponding to the ABC phase winding and the XYZ phase windingAnd->The method meets the following conditions:
when ABC phase winding phase failure operation:
；
；
when the XYZ phase winding is in open phase operation:
；
。
when two sets of windings of the execution motor and the corresponding inverter bridge generate a fault respectively, the switch corresponding to the fault of the two sets of windings is opened, and the switch (KN 1 and KN 2) connected with the midpoint of the capacitor of the two sets of windings is closed at the same time. At the moment, two sets of windings adopt two-phase four-switch modulation modes, and the q-axis expected current corresponding to the ABC phase winding and the XYZ phase winding is adoptedAnd->The method meets the following conditions:
；
。
when one set of windings of the execution motor and the inverter bridge corresponding to the windings generate two or more faults, all the switches corresponding to the fault windings are disconnected. At this time, the normal working winding adopts SVPWM modulation mode, and the fault winding does not work. And the q-axis expected current corresponding to the ABC phase winding and the XYZ phase windingAnd->The method meets the following conditions:
when the ABC phase winding turns off:
；
；
when the XYZ phase winding turns off:
；
。
when one set of windings of the execution motor and the inverter bridge corresponding to the windings generate two or more faults, all the switches corresponding to the fault windings are disconnected. While another set of windings also suffers from a single fault. At this time, a single fault working winding adopts a two-phase four-switch modulation mode, and two or more fault windings do not work. And the q-axis expected current corresponding to the ABC phase winding and the XYZ phase windingAnd->The method meets the following conditions:
when the ABC phase winding turns off:
；
；
when the XYZ phase winding turns off:
；
。
referring to fig. 4, a schematic diagram of two-phase four-switch modulation in an embodiment of the present application is shown, where the inverter bridge has four working states and four corresponding basic voltage vectors, and the complex plane can be divided into four sectors. The voltage vector synthesis method of the two-phase four-switch is similar to the SVPWM synthesis method, and comprises sector judgment, basic vector action time calculation, duty ratio calculation and modulation wave synthesis. The current distribution coefficient selection principle of the open-phase working mode is as follows:
when the motor is in open-phase operation (the motor can be set as an A-phase open-phase), the ABC phase current is as follows:
；
the XYZ phase currents are:
；
from this, it can be seen that the B, C phase current amplitude expands to 3 for normal operation 0.5 Multiple times. Therefore, in order to balance the current amplitude of each phase and prevent the overcurrent of the switching tube and the windings, the q-axis expected currents of the two sets of windings should be redistributed:
；
the method can be solved as follows:
；
。
when the phase A is in open-phase operation, the principle of voltage vector synthesis under two-phase four-switch modulation and SVPWM modulation is as shown in fig. 4:
assuming that the phase A winding and an inverter bridge thereof have single faults, turning off KA, closing KN1 and adopting a two-phase four-switch modulation method.
For the two-phase four-switch modulation method, the inverter has four different modes of operation. When the switching tube of the upper bridge arm of one phase is closed and the switching tube of the lower bridge arm is turned off, the switching tube is denoted by 1; when the switching tube of the upper bridge arm of one phase is turned off and the switching tube of the lower bridge arm is turned on, the switching tube is denoted by 0. At this time, the phase voltages and the voltage vectors in the αβ coordinate system are shown in the following table one:
wherein, the working state refers to the B, C phase working mode,U dc for the purpose of inverting the bridge bus voltage,the phase voltage of the a phase is set,phase voltage for phase B>Phase voltage for phase C, +.>For the voltage component of the voltage vector on the alpha axis in the alpha beta coordinate system,/for the voltage vector>Is the voltage component of the voltage vector on the beta axis in the alpha beta coordinate system.
According to table one, two-phase four-switch modulation has four corresponding basic voltage vectors, which can divide the complex plane into four sectors. While SVPWM modulation has 8 basic voltage vectors, the complex plane can be divided into 6 sectors. The voltage vector synthesis method of the two-phase four-switch is similar to the SVPWM synthesis method, and comprises sector judgment, basic vector action time calculation, duty ratio calculation and modulation wave synthesis. When the other phases of the motor are subjected to single faults and enter a phase-failure operation mode, a similar two-phase four-switch modulation principle and a similar method exist.
The fault-tolerant control device for the actuating mechanism disclosed by the embodiment of the application is a fault-tolerant control mode of a drive-by-wire steering actuating mechanism based on a double three-phase motor, can realize fault tolerance of a current sensor and a motor position sensor, and can realize different working modes of the double three-phase motor and an inverter thereof under different faults. Therefore, the safety of the steer-by-wire actuating mechanism is improved, and the requirement of high-grade automatic driving and high safety is met. .
Referring to fig. 5, which is a flow chart illustrating an embodiment of an actuator fault-tolerant control method, an embodiment of the present application further discloses an actuator fault-tolerant control method applied to the actuator fault-tolerant control device, including:
step 101, obtaining an electrical parameter of the execution motor.
An electrical parameter of an execution motor of the steer-by-wire system is monitored. The execution motor is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function. The execution motor is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-type mode and are separated by an electric angle of 30 degrees, and the electric parameters of the execution motor comprise electric parameter data of each winding in the two sets of three-phase windings of the execution motor.
Step 102, fault state diagnosis is performed.
And inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model. In one embodiment, the formula of the mathematical model of the normal operation of the winding is:
；
wherein i is d To perform d-axis current of a single winding of the motor, i q Q-axis current of single winding of execution motor, L d To perform d-axis inductance of a single winding of the motor, L q To perform q-axis inductance of a single winding of the motor, u d To perform a single winding d-axis voltage of the motor, u q To perform a single winding q-axis voltage of the motor, R is the stator resistance of the motor and ω is the rotor electrical angular speed of the motor.
In one embodiment, the electrical parameter residual data is a difference between a motor current value for executing normal operation of the motor and a motor current monitoring value for monitoring the executing motor, and the obtained current residual values of d-axis and q-axis of each set of three-phase winding of the executing motor are expressed as follows:
；
wherein,、/>and->The current residual value of each winding in a set of three-phase windings in the execution motor is +.>And->And the current residual values of the d axis and the q axis of each set of three-phase winding of the execution motor are respectively, and theta is the electrical rotation angle of the execution motor.
Step 103, performing fault tolerance compensation.
When the fault of the executing motor is judged, diagnosing the fault reason of the executing motor, and sending electric parameter compensation data to a driving controller of the executing motor according to a diagnosis result, so that the driving controller redistributes driving current of each winding in the three-phase windings according to the electric parameter compensation data, and fault-tolerant compensation of the executing motor is further realized.
The fault-tolerant control method of the actuating mechanism disclosed by the embodiment of the application comprises the steps of firstly, acquiring electric parameters of an actuating motor of a steer-by-wire system, wherein the actuating motor is a double three-phase permanent magnet synchronous motor; then inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model; and finally, diagnosing the fault cause of the execution motor and sending electric parameter compensation data to a driving controller of the execution motor according to a diagnosis result so as to realize fault tolerance compensation of the execution motor through the driving controller. Because the drive-by-wire steering actuating mechanism fault tolerance of the double three-phase motor is based, the drive-by-wire steering actuating mechanism has a redundant structure, and the requirement of a vehicle on transverse control high safety can be greatly met.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (5)
1. An actuator fault-tolerant control device for a steer-by-wire system is characterized by comprising a motor monitoring device, a motor fault diagnosis device and a motor fault-tolerant compensation device:
the motor monitoring device is used for monitoring the electric parameters of an execution motor of the steer-by-wire system; the execution motor is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function; the execution motor is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-type manner and are separated by an electrical angle of 30 degrees; the electrical parameters comprise electrical parameter data of each winding in two sets of three-phase windings of the execution motor;
the motor fault diagnosis device is used for inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model;
the motor fault-tolerant compensation device is used for diagnosing the fault reason of the execution motor when the execution motor is judged to be faulty, and sending electric parameter compensation data to the driving controller of the execution motor according to a diagnosis result, so that the driving controller redistributes the driving current of each winding in the three-phase windings according to the electric parameter compensation data, and fault-tolerant compensation of the execution motor is further realized;
the formula of the mathematical model for normal operation of the winding is as follows:
；
wherein i is d D-axis current, i, for a single winding of the actuator motor q Q-axis current, L, for a single winding of the actuator motor d D-axis inductance, L, for a single winding of the actuator motor q Q-axis inductance for a single winding of the actuator motor, u d For the single winding d-axis voltage of the actuator motor, u q For the single winding q-axis voltage of the execution motor, R is the stator resistance of the execution motor, ω is the rotor electrical angular velocity of the execution motor;
the electric parameter residual data is the difference between the motor current value of the normal work of the execution motor and the motor current monitoring value of the execution motor, the obtained current residual values of the d axis and the q axis of each set of three-phase winding of the execution motor are represented by the following expression formulas:
；
wherein,、/>and->The current residual value of each winding in a set of three-phase windings in the execution motor is respectively,and->The current residual values of the d axis and the q axis of each set of three-phase winding of the execution motor are respectively, and theta is the electrical rotation angle of the execution motor;
the diagnosis of the fault state of the execution motor according to the electrical parameter residual error data output by the winding normal operation mathematical model comprises the following steps:
and comparing the ratio of the current residual value of at least one set of three-phase winding in the executing motor with a preset value, and judging the fault state of the executing motor according to the comparison result.
2. The actuator fault-tolerant control of claim 1, wherein the motor fault-tolerant compensation means diagnoses a cause of a fault in the actuator motor comprising:
i is adopted for the executing motor d Vector control of =0 and diagnosing the fault state of the execution motor by isolating single-phase windings one by one, wherein the fault state of the execution motor comprises a normal operation mode, a phase-missing operation mode and a double phase-missing operation modeMode and/or single winding mode of operation.
3. The actuator fault-tolerant control of claim 2, wherein the motor fault-tolerant compensation means sends electrical parameter compensation data to the drive controller of the actuator motor in response to the diagnostic result for the drive controller to redistribute the drive current for each of the three phase windings in response to the electrical parameter compensation data, comprising:
when the fault state of the execution motor is the normal working mode, the q-axis expected currents of the two sets of three-phase windings are the same;
when the fault state of the execution motor is a phase-failure working mode, that is, one of the three-phase windings fails, the ratio of the q-axis expected current of the phase-failure to the q-axis expected current of the three-phase winding without phase failure is 0.366:0.634;
when the fault state of the execution motor is a double open-phase working mode, namely when one of the two sets of three-phase windings fails, the q-axis expected currents of the two sets of three-phase windings are the same;
when the fault state of the execution motor is a single-winding working mode, namely, one set of three-phase windings have faults, the three-phase windings which do not have faults work independently.
4. An actuator fault-tolerant control method for a steer-by-wire system, for application to an actuator fault-tolerant control apparatus as claimed in claim 1, the actuator fault-tolerant control method comprising:
monitoring an electrical parameter of an execution motor of the steer-by-wire system; the execution motor is used for providing driving force for a steering execution mechanism of the steer-by-wire system so as to realize a steering control function; the execution motor is a double three-phase permanent magnet synchronous motor and comprises two sets of three-phase windings which are connected in a Y-type manner and are separated by an electrical angle of 30 degrees; the electrical parameters comprise electrical parameter data of each winding in two sets of three-phase windings of the execution motor;
inputting the electric parameters of the execution motor into a preset winding normal operation mathematical model, and diagnosing the fault state of the execution motor according to the electric parameter residual error data output by the winding normal operation mathematical model;
when the executing motor is judged to be faulty, diagnosing the fault reason of the executing motor, and sending electric parameter compensation data to a driving controller of the executing motor according to a diagnosis result, so that the driving controller is used for redistributing the driving current of each winding in the three-phase windings according to the electric parameter compensation data, and fault-tolerant compensation of the executing motor is further achieved.
5. A computer readable storage medium having a program stored thereon, the program being executable by a processor to implement the actuator fault tolerance control method of claim 4.
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| CN114123916A (en) * | 2021-11-17 | 2022-03-01 | 华中科技大学 | Fault-tolerant control method and system for open-phase fault of double three-phase permanent magnet synchronous motor |
| WO2022183537A1 (en) * | 2021-03-02 | 2022-09-09 | 江苏大学 | Open-circuit unified fault-tolerant control method for vector and direct torque control driving systems of five-phase permanent magnet fault-tolerant electric motor |
| CN116573037A (en) * | 2023-04-27 | 2023-08-11 | 南京航空航天大学 | Double-winding distributed steer-by-wire system and fault-tolerant control method thereof |
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| US11496076B2 (en) * | 2020-10-06 | 2022-11-08 | Steering Solutions Ip Holding Corporation | Optimal torque control of multiphase synchronous motors with open circuit condition |
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| CN106470008A (en) * | 2016-10-21 | 2017-03-01 | 南京航空航天大学 | Double winding fault tolerant permanent magnet power drive system based on three-phase four-arm and control method |
| CN109672389A (en) * | 2018-12-10 | 2019-04-23 | 南京理工大学 | Fault tolerant permanent magnet machine drive system and its control method for electric vehicle |
| WO2022183537A1 (en) * | 2021-03-02 | 2022-09-09 | 江苏大学 | Open-circuit unified fault-tolerant control method for vector and direct torque control driving systems of five-phase permanent magnet fault-tolerant electric motor |
| CN114123916A (en) * | 2021-11-17 | 2022-03-01 | 华中科技大学 | Fault-tolerant control method and system for open-phase fault of double three-phase permanent magnet synchronous motor |
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