分布式电驱动车辆线控转向系统MFAC主动容错控制

doi:10.3901/JME.2019.22.131

机械工程学报 ›› 2019, Vol. 55 ›› Issue (22): 131-139.doi: 10.3901/JME.2019.22.131

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分布式电驱动车辆线控转向系统MFAC主动容错控制

罗禹贡¹, 陈锐¹, 胡云^1,2

1. 清华大学汽车安全与节能国家重点实验室北京 100084;
2. 泛亚汽车技术中心有限公司上海 201201

收稿日期:2019-09-10 修回日期:2019-11-09 出版日期:2019-11-20 发布日期:2020-02-29
通讯作者: 罗禹贡(通信作者),男,1974年出生,博士,研究员。主要研究方向为智能网联汽车决策与控制。E-mail:lyg@mail.tsinghua.edu.cn
作者简介:陈锐,男,1987年出生,博士研究生。主要研究方向为智能电动车辆功能安全与容错控制。E-mail:cr16@mails.tsinghua.edu.cn;胡云,女,1995年出生,工程师。主要研究方向为智能电动车辆功能安全与容错控制。E-mail:hyun_2016@163.com
基金资助:
国家自然科学基金资助项目（51575295）。

Active Fault-tolerant Control Based on MFAC or 4WID EV with Steering by Wire System

LUO Yugong¹, CHEN Rui¹, HU Yun^1,2

1. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084;
2. Pan Asia Technical Automotive Center Co., Ltd., Shanghai 201201

Received:2019-09-10 Revised:2019-11-09 Online:2019-11-20 Published:2020-02-29

摘要/Abstract

摘要： 为解决分布式电驱动车辆线控转向系统容错控制大多需要故障诊断与隔离模块，以及过于依赖精确车辆动力学模型问题，提出基于多输入多输出无模型自适应线控容错控制方法。通过分析车辆3自由度模型确定无模型自适应控制的输入输出关系，建立面向线控转向系统的多输入多输出无模型自适应主动容错控制器（Multi-input multi-output model free adaptive control， MIMO-MFAC）并进行求解，并通过理论推导证明了控制器单调收敛。在此基础上基于Matlab/Simulink和CarSim对该容错控制方法进行了仿真验证，仿真结果表明当转向系统发生故障时，容错控制方法能协同驱动系统产生额外的横摆力矩进行补偿，保证车辆既能维持期望车速也不偏离既定轨迹行驶。最后，通过驾驶模拟器试验验证了该容错控制算法的实时性。

关键词: 分布式电驱动车辆, 主动容错控制, 无模型自适应控制, 线控转向系统

Abstract: To solve the problem of the existing active fault-tolerant control methods for distributed electric drive vehicle active steering system, which need fault diagnosis and isolation module and rely on accurate vehicle dynamics model, a multi-input multi-output model-free adaptive active fault-tolerant control method is proposed. Firstly, a three-degree-of-freedom model of the vehicle is used to determine the input-output relationship of the model-free adaptive control, and the multi-input multi-output model free adaptive control(MIMO-MFAC) fault-tolerant controller for the active steering system is established and solved. Then the monotonic convergence of the controller is theoretical proved. Based on Matlab/Simulink and CarSim, the simulation experiments are carried out and the results show that the fault-tolerant control algorithm compensates the steering system fault by generating additional yaw moments to ensure that the vehicle can maintain the desired speed and not deviate from the desired path. Finally, the real-time performance of the fault-tolerant control algorithm is verified by driving simulator experiments.

Key words: four-wheel independent drive electric vehicle, active fault-tolerant control, model-free adaptive control, steer-by-wire system

中图分类号:

TG156

罗禹贡, 陈锐, 胡云. 分布式电驱动车辆线控转向系统MFAC主动容错控制[J]. 机械工程学报, 2019, 55(22): 131-139.

LUO Yugong, CHEN Rui, HU Yun. Active Fault-tolerant Control Based on MFAC or 4WID EV with Steering by Wire System[J]. Journal of Mechanical Engineering, 2019, 55(22): 131-139.

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分布式电驱动车辆线控转向系统MFAC主动容错控制

Active Fault-tolerant Control Based on MFAC or 4WID EV with Steering by Wire System

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