Analysis And Research On Fault-tolerant Steer-by-wire System Of Loader

As one of the systems that the loader realizes the loading function,the importance of the steering system is self-evident.With the crossover and mutual penetration of various disciplines,the development of steer-by-wire technology has been put on the agenda.Whether the steer-by-wire system can bear the burden of the steering system depends on the safety and reliability of the steer-by-wire system,and the safety and reliability of the system are closely related to the fault tolerance of the system,so improving the fault tolerance of the system has become Study an important part of the steer-by-wire system.Based on the research results of domestic scholars,this article uses a combination of software redundancy and hardware redundancy to improve the fault tolerance of the steer-by-wire system,and combines the steer-by-wire technology and the full hydraulic steering system to specifically design the fault-tolerant steer-by-wire system.steering system.The thesis mainly conducted the following research.(1)The fault-tolerant steer-by-wire system is designed.It mainly includes the principle diagram of the steer-by-wire system and the determination of the fault tolerance method.It describes the overall structure of the system in detail,including the three subsystems of operation,control and execution,and determines the combination of the full hydraulic steering system and the steer-by-wire system.The fault-tolerant method of the fault-tolerant steer-by-wire system is determined,and the mathematical model of the three common faults of the sensor is established.(2)Model various parts of the loader’s fault-tolerant steer-by-wire system.Based on the theoretical analysis of the full hydraulic steering gear and the mathematical modeling of the full hydraulic steering gear,the full hydraulic steering gear is modeled and simulated in AMESim software.In addition,models of other parts of the faulttolerant steer-by-wire system are established in AMESim.(3)The simulation analysis of the loader’s fault-tolerant steer-by-wire system is carried out.Perform overall modeling of the fault-tolerant steer-by-wire system and perform fault analysis on it,including sensor fault and actuator fault analysis.Through the system’s steering oil circuit analysis,different signal source tests,and system antiinterference ability tests,the results show that: This system has strong security and reliability.(4)The control strategy of the loader’s fault-tolerant steer-by-wire system is discussed.The effect of PID control strategy on the steer-by-wire system is studied.The number of PID is adjusted by experiment method,and the effect of PID control is analyzed.Fuzzy PID control is studied through AMESim-simulink co-simulation,and the response analysis and interference state of different frequency signals are carried out.The control comparison below shows that the fuzzy PID control effect is better and the anti-interference ability is stronger.