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

doi:10.3901/JME.2019.22.131

Abstract

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

CLC Number:

TG156

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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