线控四轮独立转向汽车执行机构容错控制研究  

Research on Fault Tolerant Control of Actuators of Four-wheel-independent Steer-by-wire Vehicle

作　　者：何友国[1] 耿朋杰 蔡英凤[1] 袁朝春[1] HE Youguo;GENG Pengjie;CAI Yingfeng;YUAN Chaochun(Automotive Engineer Research Institute,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2021年第10期33-41,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51875255,51775247,U20A20333);江苏省道路载运工具新技术应用重点实验室开放基金项目(BM20082061506);江苏大学高级人才科研启动基金项目(15JDG125)。

摘　　要：针对可能出现多种执行器故障的线控四轮独立转向汽车系统,首先建立简化线性2自由度模型并定义包含多种故障的执行器故障模型,然后基于直接自适应控制方法的设计思路,引入一种鲁棒自适应容错控制策略。以跟踪参考模型为目标进行了容错控制器的设计,实现执行器故障模式下汽车对理想参考模型的零质心侧偏角和修正横摆角速度的跟踪。基于Lyapunov函数证明该容错控制器可以确保闭环系统渐近稳定。Matlab仿真及Carsim/Simulink联合仿真结果均表明,所提方法能够有效实现线控转向汽车执行器故障情况下的容错控制。The four-wheel independent steer-by-wire vehicle has four independent controllable steering wheels,which constitutes a redundancy system with fault-tolerant capability.Firstly,thevehicle two-degree-of-freedom model and an actuator fault model with multiple faults are established.Then,a robust adaptivefault-tolerant controller is designed to track the zero sideslip angle and the modified yaw rate of the ideal reference model in the actuator fault mode.Based on Lyapunov function,it is proved that the fault-tolerant controller can ensure the asymptotic stability of the closed-loop system.The results of Matlab simulation and Carsim/Simulink co-simulation show that the proposed method can effectively achieve the fault-tolerant control of steer-by-wire vehicle actuator failure.

关 键 词：线控转向 执行器故障 直接自适应控制 容错控制 Carsim/Simulink联合仿真 

分 类 号：U461.91[机械工程—车辆工程]