基于扩展卡尔曼的线控转向系统转角传感器故障诊断  

Fault diagnosis of steering angle sensor for steer-by-wire system based on extended K alman filter

作　　者：李笑晨 谭光兴[1] LI Xiaochen;TAN Guangxing(School of Automation,Guangxi University of Science and Technology,Liuzhou 545616,China)

机构地区：[1]广西科技大学自动化学院,广西柳州545616

出　　处：《广西科技大学学报》2024年第1期76-83,共8页Journal of Guangxi University of Science and Technology

基　　金：国家自然科学基金项目(61563005)资助。

摘　　要：车轮转向角度传感器是汽车动力系统中重要的器件之一,其可靠性直接影响车辆的安全。针对线控转向系统转角传感器的可靠性问题,首先,分析线控转向系统的结构特点,建立三自由度的非线性车辆模型,以及传感器故障种类模型;其次,基于扩展卡尔曼滤波(extended Kalman filter,EKF)算法,利用传感器输入的转角信息,通过车辆模型估计出汽车状态,例如横摆角速度、质心侧偏角等,再与汽车状态传感器测得的实际值生成残差,构建故障诊断向量并提出诊断策略来实现转角传感器的故障诊断;最后,搭建Carsim/Simulink仿真平台进行联合仿真。结果表明该算法可以准确地识别出转角传感器发生的故障。The wheel steering angle sensor is one of the important components in the automotive power system,and its reliability directly affects the safety of the vehicle.To improve the reliability of the steering angle sensor for the steer-by-wire system,firstly,the structural characteristics of the steer-by-wire system are analyzed,a three-degree-of-freedom nonlinear vehicle model and a sensor fault type model are established.Secondly,based on the extended Kalman filter(EKF)algorithm,the vehicle state,such as yaw rate and side slip angle,is estimated through the vehicle model using the angle information input by the sensor.Then,the residual is generated with the actual value measured by the vehicle state sensor to construct a fault diagnosis vector and propose a diagnostic strategy to realize the fault diagnosis of the steering angle sensor.Finally,a Carsim/Simulink simulation platform is built for joint simulation.The results show that the algorithm can accurately identify the fault of the steering angle sensor.

关 键 词：线控转向 扩展卡尔曼滤波(EKF) 故障诊断 传感器 

分 类 号：TP277.3[自动化与计算机技术—检测技术与自动化装置] U463.407[自动化与计算机技术—控制科学与工程]