Synchronous and fault-tolerance control for dual-motor steer-by-wire system of commercial vehicle

Abstract

In order to meet the high safety requirement of high-level automatic steering mechanism for commercial vehicle, a kind of steer-by-wire (SBW) system with redundant motors is studied in this paper, and the structure principle and control strategy of the system are studied. Commercial vehicles have the characteristics of large steering resistance moment, which is accompanied by impact and vibration during steering, so the synchronous control of dual motors is the key and difficult problem. Based on the circulating ball steering gear for commercial vehicle, dual-motor synchronous control architecture is designed and the dual-motor global-fast-terminal-sliding-mode (nonsingular-GFTSM) synchronous control is formulated. Compared with the sliding-mode control, the simulation results show that the dual-motor actuator based on nonsingular-GFTSM can better realize the synchronous operation in angle, speed and torque. In addition, a real-time motor fault-diagnosis method based on sliding mode observer and a fault-tolerant control strategy based on smooth switching system are designed, which can achieve fast fault-isolation and smooth torque switching in case of actuator failure in dual-motor system. A Hardware-in-the-Loop (HIL) test bench is built to further verify the effectiveness of the synchronous and fault-tolerance control strategy for dual motors.

Keywords

SBW dual-motor nonsingular-GFTSM fault-tolerant SMO

Get full access to this article

View all access options for this article.

References

Nan

, et al. A dual-motor electric power steering system for commercial vehicle. In: 2019 14th IEEE conference on industrial electronics and applications (ICIEA), Xi’an, China, 19–21 June 2019.

Ackermann

Bunte

Odenthal

. Advantages of active steering for vehicle dynamics control. In: 32nd International symposium on automotive technology and automation, German Aerospace Center, D. Vienna, Austria, 1999, pp.263–270.

Ryouhei

Katsutoshi

Shirou

, et al. The vehicle stability control responsibility improvement using steer-by-wire. Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No. 00TH8511), Dearborn, USA, 2000, pp.596–601.

Stanton

Marsden

From fly-by-wire to drive-by-wire: safety implications of automation in vehicles. Saf Sci 1996; 24(1): 35–49.

Kirli

Chen

Okwudire

, et al. Torque-vectoring-based backup steering strategy for steer-by-wire autonomous vehicles with vehicle stability control. IEEE Trans Vehicular Technol 2019; 68(8): 7319–7328.

Mortazavizadeh

Ghaderi

Ebrahimi

, et al. Recent developments in the vehicle steer-by-wire system. IEEE Trans Transp Electrification 2020; 6(3): 1226–1235.

Chen

Cai

Chen

, et al. Trajectory tracking control of steer-by-wire autonomous ground vehicle considering the complete failure of vehicle steering motor. Simul Model Pract Theory 2021; 109: 102235.

Lee

Kam

MS.

Development of the independent type steer-by-wire system using HILS. Int J Automot Technol 2006; 7(3): 321–327.

Sugitani

Design concept and advantages of steer-by-wire system. SAE technical paper 0148-7191, 2008.

10.

Hua

Chen

Zong

, et al. Research on synchronous control strategy of steer-by-wire system with dual steering actuator motors. Int J Veh Auton Syst 2020; 15(1): 50–76.

11.

Koren

Cross-coupled biaxial computer control for manufacturing systems. J Dyn Syst Measure Control 1980; 102(4): 265–272.

12.

Nunez

Alvarez

Cervantes

. Comparison of multi-motor synchronization techniques. In: 30th Annual conference of IEEE industrial electronics society, iecon Busan, Korea (South), 2–6 November 2004, pp.1670–1675.

13.

Hwang

Choi

Nam

Practical synchronous steering angle control of a dual-motor driving Steer-by-Wire system. IEEE Access 2019; 7: 133100–133110.

14.

Yao

Daugherty

Control method of dual motor-based steer-by-wire system. SAE technical paper 0148-7191, 2007.

15.

Huan

Research on control strategy of linear steering system based on dual motor structure. Master’s Thesis, Jilin University, China, 2017.

16.

Zou

Zhao

Synchronization and stability control of dual-motor intelligent steer-by-wire vehicle. Mech Syst Signal Process 2020; 145: 106925.

17.

Zhu

Jiang

, et al. A cross coupling control strategy for dual-motor speed synchronous system based on second order global fast terminal sliding mode control. IEEE Access 2020; 8: 217967–217976.

18.

Pan

Zhang

Ouyang

, et al. A novel global fast terminal sliding mode control scheme for second-order systems. IEEE Access 2020; 8: 22758–22769.

19.

Zhang

An investigation of the fault tolerant control of vehicle SBW system. Master’s Thesis, Jilin University, China, 2007.

20.

LY.

Fault tolerant and fault diagnosis technologies of automobile SBW system. J Chong-qing Jiaotong Univ (Nat Sci) 2015; 34(5): 165–169.

21.

Cai

Jun-nan

Wang

Full dual redundancy steer-by-wire steering gear and its redundancy management. Automot Technol 2018; 3: 41–46.

22.

Huang

Naghdy

, et al. Fault tolerant steer-by-wire systems: an overview. Annu Rev Control 2019; 47: 98–111.

23.

Huang

Naghdy

, et al. Actuator fault tolerant control for steer-by-wire systems. Int J Control 2021; 94: 3123–3134.

24.

Sharifi

Mirzaei

Gordon

, et al. Fault tolerant control of a quadrotor UAV using sliding mode control. In: 2010 Conference on control and fault-tolerant systems, SysTol'10 - Final Program and Book of Abstracts Nice, France, 6–8 October 2010, pp.239–244.

25.

Research on high performance fault tolerant system of permanent magnet synchronous motor based on sliding mode observer. Master’s Thesis, Beijing Jiaotong University, China, 2019.

26.

Zeng

ZH.

Research on steering resistance moment of front wheel determined by front wheel angle and speed. Times Automobile 2016; 6: 47–48.

27.

Ullah

Guzinski

Mirza

AF.

Critical review on robust speed control techniques for permanent magnet synchronous motor (PMSM) speed regulation. Energies 2022; 15(3): 1235.

28.

Van Hoang

Jeon

JW.

An advanced closed-loop control to improve the performance of hybrid stepper motors. IEEE Trans Power Electron 2017; 32(9): 7244–7255.

29.

SSD

Chen

ZL.

Study of nonsingular fast terminal sliding-mode fault-tolerant control. IEEE Trans Ind Electron 2015; 62(6): 3906–3913.

30.

Yang

Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems. Int J Robust Nonlinear Control 2011; 21(16): 1865–1879.

31.

JJ.

Research of robust and fault tolerant control system for a quadrotor. Master Thesis, University of Electronic Science and Technology of China, China, 2019.