基于线控转向的汽车容错控制策略研究  

Research on Fault-tolerant Control of Steer-by-wire System

作　　者：曾贵苓[1] 王苹[1] 马书香[1] ZENG Gui-ling;WANG Ping;MA Shu-xiang(Wuhu Institute of Technology,Anhui Wuhu 241006,China)

机构地区：[1]芜湖职业技术学院

出　　处：《重庆工商大学学报（自然科学版）》2019年第4期49-54,共6页Journal of Chongqing Technology and Business University:Natural Science Edition

基　　金：安徽省质量工程项目(2015GXK101,2015JYXM477);芜湖职业技术学院自然科学重点研究项目(WZYZRZD201809)

摘　　要：针对转向系统失效的情况,基于执行器扭矩重新分配,提出了一种容错控制策略;根据所需车辆运动,建立双点预瞄模型,推导出期望的方向盘转角;利用二自由度汽车模型,进一步得到目标横摆角速度以及目标车身侧偏角,利用滑模控制得到所需的横摆力矩,通过扭矩分配策略实现容错控制;通过控制各个车轮执行器的输出扭矩,使汽车沿规划路径行驶;通过仿真实验,汽车的横摆角速度与期望的横摆角速度吻合度极高,提出的算法可以有效地应对线控转向汽车的转向故障,验证了针对转向失效的容错控制的有效性,有一定的工程实用性。Aiming at the failure of steering system,a fault-tolerant control strategy based on torque allocation is proposed. A two-point preview model is established to derive the desired steering wheel angle according to the required vehicle motion. Using the two-degree-of-freedom vehicle model,the yaw angular velocity and the sideslip angle of the target body are further obtained. The yaw moment is obtained by sliding mode control,and the fault-tolerant control is realized by the torque allocation strategy. In order to verify the proposed fault-tolerant control strategy,simulation results show that car’s angular velocity is very consistent with the desired yaw angular velocity,that the proposed algorithm can effectively deal with steering faults of steering-by-wire vehicle,and that it has a certain engineering practicability.

关 键 词：双点预瞄 容错控制 转向失效 扭矩分配 

分 类 号：U469.72[机械工程—车辆工程]