汽车驾驶机器人的自适应执行器故障补偿控制设计  

Failure compensation control design of adaptive actuator for vehicle robot driver

作　　者：姚雪莲[1] 丁东东 杨艺[1] 葛婉君 吴鸣宇 YAO Xuelian;DING Dongdong;YANG Yi;GE Wanjun;WU Mingyu(School of Automative and Traffic Engineering,Jiangsu University of Technology,Changzhou,Jiangsu 213001,China)

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001

出　　处：《江苏大学学报（自然科学版）》2021年第6期642-647,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61903165);江苏省自然科学基金资助项目(BK20170318);常州市科技支撑计划社会发展项目(CE20195027);江苏省研究生科研与实践创新计划项目(XSJCX20_21,XSJCX21_50);江苏省大学生创新创业训练计划项目(202111463012Z)。

摘　　要：针对汽车驾驶机器人可能发生的不确定执行器故障无法驱动机械腿正常工作,进而影响汽车行驶过程中的安全性,提出一种基于Backstepping的自适应容错控制方法.利用Backstepping对机械腿进行控制,针对各故障情况分别设计故障补偿控制器,通过定义故障指示函数将多设计加权融合成一个综合控制器.基于自适应方法对综合控制器参数进行更新.基于Matlab/simulink仿真验证此方法的有效性.结果表明:该控制方法能保证执行器在发生不确定故障时,汽车驾驶机器人控制系统仍稳定运行,并渐近跟踪给定的控制指令.To solve the problem that the uncertain actuator failures occurred in automobile driving robots could not drive the mechanical leg to work normally and could affect the safety of automobile during driving,an adaptive fault-tolerant control method was proposed.The basic feedback controller was designed based on Backstepping to ensure the desired performance of the mechanical leg,and the failure compensation controllers were designed according to each failure case.By defining the failure indication function,the multiple controllers were combined based on weight fusion algorithm to form a comprehensive controller.Based on the adaptive method,the parameters of the integrated controller were updated.The feasibility and performance of the proposed control strategy were validated by the numerical simulation results.The results show that the proposed control method can ensure the stable control system and can asymptotically track the given control signal when one uncertain failure occurs.

关 键 词：汽车驾驶机器人 机械腿 BACKSTEPPING 自适应控制 故障补偿 

分 类 号：U463[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]