基于模型的电动助力转向系统故障诊断与预测

Wen-Chiao Lin, Y. Ghoneim
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引用次数: 9

摘要

电动助力转向(EPS)是一种先进的转向系统,它由电气和机械两个子系统组成。EPS系统不仅为驾驶员提供转向辅助,而且也是最近开发的主动安全功能的执行器,例如车道保持和变道辅助。EPS系统某些组件的故障可能导致“走回家”的情况,并增加保修成本。因此,为了提高EPS系统的可靠性、安全性和效率,故障检测、诊断和预测变得越来越重要。本文通过基于模型的技术,利用参数估计来确定EPS电机的电流电气参数,为EPS系统提供故障检测。此外,通过监测两种不同方法估计的自调心扭矩(SAT)的偏差,可以检测EPS力学参数的变化。这种偏差的进展可以输入健康状态估计器,该估计器可以给出健康状态和剩余使用寿命的指示。计算机仿真和硬件在环(HIL)实验说明了这种方法。最后,基于电机参数的估计、道路SAT的计算和宇称方程的残差,构建了故障特征表,用于集成系统诊断和故障隔离。此表可用于检测和隔离EPS系统中考虑的电气,机械和传感器故障,并显示仿真结果以验证所开发的思想。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Model-based fault diagnosis and prognosis for Electric Power Steering systems
Electric Power Steering (EPS) is an advanced steering system that consists of two subsystems: electrical and mechanical subsystems. EPS systems not only provide steering assist to drivers but they are also actuators for recently developed active safety features, such as lane keeping and lane changing assist. Failure of some component of the EPS system can lead to walk-home situations and increased warranty costs. Hence, for the improvement of reliability, safety, and efficiency of EPS systems, fault detection, diagnosis, and prognosis become increasingly important. This paper provides fault detection for EPS systems through model-based techniques using parameter estimation to determine the current electric parameters of the EPS motor. In addition, by monitoring the deviation of the self-aligning torque (SAT) estimated from two different methods, changes in EPS mechanical parameters can be detected. The progression of this deviation can be fed into a health state estimator which can give an indication of state of health and remaining useful life. Computer simulations as well as hardware-in-the-loop (HIL) experiments are provided to illustrate this method. Finally, for integrated system diagnosis and fault isolation, a fault signature table is constructed based on estimations of motor parameters, calculations of road SAT, and residuals of parity equations. This table can be used to detect and isolate considered electrical, mechanical, and sensor faults in the EPS system and simulation results are shown to verify the developed ideas.
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