双余度线控转向机系统的电流均衡余度控制

Current-balance dual-redundancy control of dual-redundant steering gears in a steer-by-wire system

线控转向系统的安全可靠性不足是制约其应用的瓶颈,其中转向机系统的安全可靠性是重要方面。已有研究提出了具有高安全可靠性的双余度线控转向机系统的结构。该文针对此系统提出了电流均衡余度控制方法,以使其在双电机控制转向时转矩能够均衡输出;在出现降阶故障后切断相应通道电机电源,实现系统降阶,并在控制上重整,使系统在降阶状态下能够正常实现转向控制功能。实车试验结果表明,上述方法能够在转向控制中实现双电机均衡输出,在出现故障后能够降阶重整,使车辆保持转向功能。

The safety reliability of steer-by-wire systems(SBW) is the main reason restricting their application;thus, their safety reliability are important. Some studies have proposed safe and reliable dual-redundancy steer-by-wire systems. This paper presents a current-balance dual-redundancy control method for such systems which balances the torques of the dual motors. The system can also cut the power to a faulty motor by reorganizing the control system which reduces the system order so that steering control is maintained after one motor failure. Vehicle tests show that this method provides steering control with balanced motors. The tests also show that the system modifies the control mode after a motor failure to maintain vehicle steering.