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首页> 外文学位 >Fault-tolerant electrohydraulic steer-by-wire control system for articulated vehicles.
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Fault-tolerant electrohydraulic steer-by-wire control system for articulated vehicles.

机译：铰接车辆的容错电液线控转向系统。

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摘要

X-by-wire control systems in automotive applications refer to systems where the input device used by the operator is connected to the actuation power subsystem by electrical wires as opposed to being connected by mechanical or hydraulic means. The input device is connected to an embedded computer which in turn sends the control signals to the actuation devices. The 'X' in the X-by-wire is replaced by 'steer', 'throttle', 'brake' to represent the steer-by-wire, throttle-by-wire and brake-by-wire systems. Current state of art steering systems used in articulated vehicles is operated by hydro-mechanical means.; In this work, a fault-tolerant steer-by-wire (SBW) system is proposed which is designed, modeled, analyzed, and tested on a wheel type loader articulated vehicle. A primary and secondary electro-hydraulic (EH) steering power circuit are designed and controlled by two redundant embedded electronic control modules (ECM). Two major control algorithms are implemented to run in the ECMs in real-time, the steering control algorithm and the failure detection algorithm. The failure detection algorithm determines the most likely "good" sensor signal from a set of redundant sensors for each critical measurement. Based on these good sensory data, the steering control algorithm sends two output signals: the control signal to the steering valve and the control signal to the steering wheel force feedback device to give operator force feedback about the steering conditions.; Real-time control algorithms are implemented on a Motorola 68332 microprocessor based embedded ECM. Finite state machine (FSM) concept is used to design the fault handling algorithms for both the component level and the system level. Failure analysis is done to quantify the reliability at component and system levels. A model of the proposed steer-by-wire system is developed which provide reasonable accuracy between the simulated results and the tests conducted on the prototype development vehicle.
机译：汽车应用中的线控X-X线控制系统是指操作员使用的输入设备通过电线连接到致动动力子系统的系统，而不是通过机械或液压方式连接的系统。输入设备连接到嵌入式计算机，该嵌入式计算机又将控制信号发送到致动设备。线控转向系统中的“ X”被“转向”，“油门”，“制动”所代替，代表线控转向，线控油门和线控制动系统。铰接车辆中使用的现有技术的转向系统是通过液压机械装置操作的。在这项工作中，提出了一种容错线控转向（SBW）系统，该系统在轮式装载机铰接式车辆上进行了设计，建模，分析和测试。一级和二级电动液压（EH）转向动力电路由两个冗余嵌入式电子控制模块（ECM）设计和控制。实现了两种主要的控制算法以在ECM中实时运行，即转向控制算法和故障检测算法。故障检测算法为每个关键测量从一组冗余传感器中确定最可能的“良好”传感器信号。基于这些良好的感官数据，转向控制算法会发送两个输出信号：向转向阀的控制信号和向方向盘力反馈装置的控制信号，以向操作员提供有关转向条件的力反馈。实时控制算法在基于嵌入式ECM的Motorola 68332微处理器上实现。有限状态机（FSM）概念用于为组件级别和系统级别设计故障处理算法。进行故障分析以量化组件和系统级别的可靠性。开发了所提出的线控转向系统的模型，该模型在仿真结果与在原型开发车上进行的测试之间提供了合理的准确性。

著录项

  • 作者

    Haggag, Salem.;

  • 作者单位

    University of Illinois at Chicago.;

  • 授予单位 University of Illinois at Chicago.;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2003
  • 页码 162 p.
  • 总页数 162
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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