Abstract: This paper proposes a control strategy based on a domain control architecture for a dualmotor recirculating-ball steering system in commercial vehicles. The strategy achieves the calculation and distribution of steering assist torque, integrates multiple functional modules such as speed-sensitive assist and active return, and outputs corresponding torque reduction coefficients based on fault categories to ensure the smooth operation of the motors and vehicle under fault conditions. The entire strategy is integrated into a domain control unit (DCU) to assist the driver in maintaining handling stability and driving safety. The proposed control strategy is validated using a hardware-in-the-loop (HIL) experimental platform. The results show that under normal conditions, the torque reduction coefficient is 0, and the system accurately calculates and allocates 100% of the assist torque to the two steering motors. Under fault conditions, the system can implement four predefined levels of torque reduction based on the fault type, effectively balancing handling stability and driving safety.

Key words: domain control architecture; dual-motor; torque distribution; handling stability

摘要： 文章针对商用车双电机循环球式转向系统，提出了一种基于域控架构的控制策略。该 策略实现了转向助力扭矩的计算与分配，综合了随速助力、主动回正等多个功能模块，并依 据故障类别输出相应的扭矩降助力系数，从而在故障工况下确保电机与车辆运行的平稳性。 整套策略集成于域控制器（DCU）中，以辅助驾驶员维持操纵稳定性和行车安全。通过硬件 在环（HIL）实验平台对所提控制策略进行了验证，结果表明，在无故障工况下，电机扭矩降 助力系数为 0，系统能准确按 100%助力扭矩计算并分配给两个转向电机；在故障工况下，系 统可根据故障类型实现预期的 4 种降助力系数调整，有效兼顾驾驶操纵稳定性和行车安全性。

关键词: 域控架构；双电机；扭矩分配；操纵稳定性