Electric motors, as the actuator of electric power steering (EPS) system and steer-by-wire (SBW) system, its reliable operation is of utmost importance for the driving safety of vehicle with electrically controlled steering. In this paper, by building a model for permanent magnet DC motor (PMDCM) and applying recursive least square method with forgetting factor, a fault diagnosis scheme for PMDCM is proposed. A real SBW vehicle test is conducted for validation with a result indicating that the scheme proposed can accurately diagnose the faults of PMDCM realtime, laying a foundation for the fault-tolerant control of electrically controlled steering system.%作为电动助力转向系统和线控转向系统执行元件的电动机,其可靠运行对电控转向汽车的行驶安全至关重要.本文中通过建立永磁直流电机模型和运用带有遗忘因子的递推最小二乘法,提出了一种电控转向系统直流电机故障诊断方法.线控转向实车试验验证的结果表明,该方法可准确、实时地诊断直流电机故障,为电控转向系统的容错控制奠定基础.
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