• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (14): 106-113.doi: 10.3901/JME.2017.14.106

• 特邀专栏:汽车先进动力系统的设计、优化与控制专栏(上) • 上一篇    下一篇

智能汽车转向轮转角主动控制

章仁燮1,2, 熊璐1,2, 余卓平1,2   

  1. 1. 同济大学汽车学院 上海 201804;
    2. 同济大学智能型新能源汽车协同创新中心 上海 201804
  • 收稿日期:2016-09-20 修回日期:2017-01-22 出版日期:2017-07-20 发布日期:2017-07-20
  • 通讯作者: 熊璐(通信作者),男,1978年出生,博士,副教授,博士研究生导师。主要研究方向为车辆系统动力学与控制,智能车控制。E-mail:xiong_lu@tongji.edu.cn
  • 作者简介:章仁燮,男,1989年出生,博士研究生。主要研究方向为车辆系统动力学与控制,智能车控制。E-mail:zhangrenxie@126.com
  • 基金资助:
    国家自然科学基金资助项目(51475333)。

Active Steering Angle Control for Intelligent Vehicle

ZHANG Renxie1,2, XIONG Lu1,2, YU Zhuoping1,2   

  1. 1. Automotive College, Tongji University Shanghai 201804;
    2. Collaborative Innovation Center for Intelligent New Energy Vehicle, Tongji University, Shanghai 201804
  • Received:2016-09-20 Revised:2017-01-22 Online:2017-07-20 Published:2017-07-20

摘要: 研究通过对智能汽车转向系统进行主动控制,可靠并准确地得到期望的转向轮转角。为了提高智能汽车转向系统主动控制的可靠性、安全性,借助横摆角速度信号、侧向加速度信号和转向执行电动机电流信号,基于卡尔曼滤波的方法对转向管柱转角传感器进行实时故障诊断和容错设计。根据诊断和容错结果,并考虑执行器力矩受限的情况,基于一种条件积分方法,设计前馈加抗积分饱和的状态反馈控制算法,使转向轮转角渐进稳定到期望的转向轮转角。并且通过建立李雅普诺夫函数,证明控制系统的渐进稳定。通过实车试验证明结合故障诊断和容错设计后控制算法能够有效可靠地实现转向轮转角的精确跟踪控制。

关键词: 卡尔曼滤波, 条件积分方法, 智能汽车, 转向轮转角主动控制

Abstract: The steering angle of intelligent vehicle is controlled to achieve the desired steering angle reliably and accurately. In order to prevent the steering column angle error and improve the reliability and safety of the active steering control of intelligent vehicle, yaw rate signal, lateral acceleration signal, and steering motor current signal are used for real time fault diagnosis with fault tolerant design based on Kalman filter. According to the result of diagnosis and fault tolerance, a feed-forward and state feedback controller overcoming integral saturation is designed with conditional integrators considering for the constraint of actuators to achieve the desired steering angle of front wheel. And a lyapunov function is built to prove the control system is asymptotically stable. In the end, the algorithms with diagnosis and fault tolerance proposed are verified to achieve the desired steering angle of front wheel effectively and reliably by real vehicle tests.

Key words: active control of steering angle, condition integration method, intelligent vehicle, Kalman filter

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