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Sensor Fault-Tolerant Control of Electric Power Steering for Electric Vehicles

机译：电动汽车电动助力转向的传感器容错控制

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摘要

The existing research of the electric power steering (EPS) system less focuses on the safe and reliable operation. Especially the application of fault-tolerant theory to EPS of electric vehicles (EV) actually. In this paper, EPS is built based on sensor fault-tolerant control for EV. Then, the riccati equation is introduced constantly correcting weight matrix Q and R. Finally, a co-simulation analysis is conducted in MATLAB to evaluate the proposed fault-tolerant controller. It is shown that the design had a positive effect in that it could effectively improve performance due to sensor failure. And, a rapid control prototype is built based on dSPACE, a hardware-in-the-loop simulation platform, in order to conduct a real EV test. The results of test are consistent to the simulation and verified the correctness of simulation. The proposed research ensures the steering safety, enhances the EPS stability, and improves the driving comfort.
机译：电动助力转向（EPS）系统的现有研究较少关注安全可靠的操作。尤其是容错理论在电动汽车EPS中的实际应用。本文基于电动汽车的传感器容错控制，建立了EPS。然后，引入里卡提方程，不断校正权重矩阵Q和R。最后，在MATLAB中进行了联合仿真分析，以评估所提出的容错控制器。结果表明，该设计具有积极的作用，因为它可以有效地提高由于传感器故障而引起的性能。并且，基于dSPACE（一个硬件在环仿真平台）构建了一个快速控制原型，以进行真实的EV测试。测试结果与仿真结果吻合，验证了仿真的正确性。拟议的研究确保了转向安全性，增强了EPS稳定性，并改善了驾驶舒适性。

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