Redundant large-torque electric steering device and control method thereof

The invention discloses a redundant large-torque electric power steering apparatus and a control method thereof. Comprising a main-auxiliary electric steering device and a crank ring plate type planetary gear steering device. The main electric device and the auxiliary electric device are respectively composed of a motor, a worm and gear reducing mechanism and a controller. The crank ring plate type planetary gear steering device is provided with a torque and angle sensor, a bevel gear transmission pair and a crank ring plate type planetary gear transmission pair. The control method mainly comprises the steps that a dual-motor synchronization strategy is adopted in an active steering mode, and fuzzy PID control serves as corner ring control of a steering device; optimizing the control parameters of the speed ring by using a genetic algorithm; and designing a sliding mode speed synchronous controller to compensate the current of the double motors. The redundant large-torque electric steering device has the bene