具有容错性能的线控转向系统固定时间滑模控制  

Fixed-time sliding mode control of the steer-by-wire systemwith fault tolerance

作　　者：潘公宇[1] 刘思青 PAN Gongyu;LIU Siqing(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2023年第6期48-57,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金面上项目(52072157)。

摘　　要：针对发生电机转矩故障的线控转向系统转角控制问题,建立了线控转向系统的等效动力学模型及转矩故障模型;为提高系统响应速度及容错性能,以理想前轮转角为跟踪目标,设计了一种具有容错性能的非奇异固定时间滑模控制器;针对控制器中的扰动和故障上界难以确定的问题,结合非奇异滑模面给出了一种自适应方案;基于李雅普诺夫稳定性条件,证明了闭环控制系统的固定时间稳定性。Simulink和Carsim联合仿真结果表明:所提控制方法使闭环转向系统具有更快的响应速度,且在发生转矩故障及饱和的情况下,仍能有效地维持系统稳定,并保证转角跟踪精度。Aiming at the angle control problem of the steer-by-wire system with motor torque fault,this paper firstly establishes an equivalent dynamic model and a torque fault model of the steer-by-wire system.Then,in order to improve the response speed and fault-tolerance performance of the system,a non-singular fixed-time sliding mode controller with fault-tolerance performance is designed with the ideal front wheel angle as the tracking target.Besides,aiming at the problem that it is difficult to determine the upper bound of the disturbance and fault in the controller,an adaptive scheme is given by combining the nonsingular sliding mode surface.Finally,based on Lyapunov stability condition,the fixed-time stability of the closed-loop control system is proved.The co-simulation results of Simulink and Carsim show that the proposed control method can make the closed-loop steering system have a faster response speed,and it can still effectively maintain the stability of the system and ensure the tracking accuracy of the steering angle in the case of torque failure and saturation.

关 键 词：线控转向 电机故障 固定时间滑模控制 容错控制 非奇异滑模面 

分 类 号：U461.91[机械工程—车辆工程]