基于LPV增益调度技术的4WID电动汽车容错控制  

Fault-tolerant control of four-wheel independently driven electric vehicles based on LPV gain-scheduling technique

作　　者：刘国海[1] 陈旭芳 张多[1] LIU Guohai;CHEN Xufang;ZHANG Duo(School of Electrical and Information Engineering,Jiangsu University,Jiangsu Zhenjiang,212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《机械设计与制造工程》2018年第4期60-65,共6页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51577084);国家自然科学基金资助项目(61273154);江苏省高校自然科学研究重大项目(15KJA470002)

摘　　要：针对四轮独立驱动电动汽车驱动电机故障,提出了一种基于线性变参数(LPV)增益调度技术的容错控制方法,从而降低执行器故障对车辆运行的影响。首先将执行器左右两侧故障因子作为调度参数,基于LPV凸分解方法,将故障状况下的车辆模型转化为具有凸多面体结构的LPV模型,并利用线性矩阵不等式技术对凸多面体各个顶点分别设计满足H∞性能和闭环极点配置的控制器;然后利用各顶点设计的反馈控制器综合得到最终LPV容错控制器;最终采用Car Sim与MATLAB/Simulink联合仿真的方式,验证了该方法的有效性。结果表明:LPV增益调度技术可以成功地应用于四轮独立驱动电动汽车的容错控制,在存在故障的情况下,仍能保持系统的稳定性和良好的动态性能。It proposes a fault tolerant control(FTC)method to four-wheel independently driven(4WID)electric vehicle based on linear parameter-varying(LPV)gain-scheduling technique,so as to reduce the effects of drive motor failure on vehicle running.Assuming both sides of the actuator fault factor as the scheduling parameter,it uses LPV convex decomposition method to convert the vehicle model with actuator failure into convex polyhedron structure LPV model,designs each vertex of convex polyhedron to meet H∞performance and closed loop pole placement based on linear matrix inequalities(LMIs).All the vertex gains are synthesized to get LPV fault tolerant controller.The co-simulations in CarSim and Matlab/Simulink demonstrate the effectiveness of the proposed method.The result shows that the LPV gain-scheduling fault tolerant controller can be applied to the 4WID electric vehicle successfully,and maintain stability and good dynamic performance when the system is suffering a fault.

关 键 词：四轮独立驱动电动汽车 线性变参数 H∞控制 极点配置 线性矩阵不等式 

分 类 号：U469.72[机械工程—车辆工程]