关键词: 车辆工程, 线控转向, 直流电机, 容错控制, 自适应渐消卡尔曼滤波

Abstract:

Addressing the need for fault tolerance control of steer-by-wire car, a DC motor model of steer-by-wire system is built in this paper. Relevant parameters of motor are identified off-line by using Least Squares Method, combining with the DC motor model. And the parameters are estimated on-line, based on Adaptive Fading Kalman Filter technology. Fault diagnosis and fault tolerant control of the DC motor can be evaluated based on the comparison result of the on-line estimation with the off-line one. And the fault diagnosis and fault tolerant control method is verified by vehicle test. The result shows that this method is effective to fault diagnosis and fault tolerant control of the DC motor, and improve effectively reliability and security of steer-by-wire system.

Key words: vehicle engineering, steer-by-wire (SBW), DC motor, fault-tolerant, adaptive fading Kalman filter (AFKF)