Redundancy Control Strategy for a Dual-Redundancy Steer-by-Wire System

Abstract

Currently, key factors hindering application of steer-by-wire systems are their inadequate safety and reliability, which are significant criteria for evaluating automotive active safety. Based on the steer-by-wire platform, a dual-redundant steering motor control system is proposed, featuring dual three-phase permanent magnet synchronous motors as execution motors, achieving redundancy from hardware. A torque vector-space-decoupling control method is introduced for these motors to ensure balanced and stable torque output. Upon a fault, fault-tolerant measures are taken by disconnecting power supply to the affected motor, which, despite reducing system functionality, allows for normal steering control. This research starts with modeling the dual three-phase motors to construct a simulation model. It then proceeds with hardware-in-the-loop testing integrated with the dual-redundancy steer-by-wire control system, conducting tests under dual-lane-change trajectory conditions. Finally, a steering system fault is simulated to assess fault handling and functional degradation. These experiments confirmed that the proposed method enabled balanced torque output from the dual three-phase motors in the redundant steering control and facilitated fault-tolerant processing post fault, ensuring the vehicle’s steering functions were maintained.