基于SDRE的电动汽车再生制动系统自适应容错控制设计  

Adaptive fault tolerant control design of electric vehicle regenerative braking system based on SDRE

作　　者：王俊阳 姚雪莲[1] 杨艺[1] 吴鸣宇 倪闯 WANG Junyang;YAO Xuelian;YANG Yi;WU Mingyu;NI Chuang(School of Automoblic and Traffic Engineering,Jiangsu University of Technology,Changzhou 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：《江苏理工学院学报》2023年第4期9-18,共10页Journal of Jiangsu University of Technology

基　　金：国家自然科学基金项目“基于多设计融合的多重不确定非线性系统的自适应故障补偿控制”(61903165);江苏省大学生创新创业训练计划项目“无人机编队飞行控制软件设计”(202111463012Z);江苏省研究生科研与实践创新计划项目“多旋翼自适应执行器失效补偿的瞬态特性优化”(XSJCX21_50)。

摘　　要：针对电动汽车再生制动系统中发生不确定执行器故障导致的稳定性控制问题,提出一种结合状态相关Riccati方程(SDRE)与自适应容错的控制策略。SDRE方法可用于解决复杂非线性系统的最优控制问题,通过权重矩阵的灵活选取,分析不同控制输入对系统性能的影响。首先,使用SDRE方法基于稳定性控制得到再生制动系统最优控制律。然后,分析电动汽车制动执行器故障类型,针对各种不确定故障情况分别设计自适应故障补偿控制器,并加权融合成可解决各类型故障的综合控制器。所提出的控制方法能保证执行器在发生不确定故障时,仍达到期望的制动性能,并保证汽车制动的稳定性。最后,基于Matlab/simulink仿真验证此方法的有效性。Aiming at the stability control problem caused by uncertain actuator failure in the regenerative brak-ing system of electric vehicles,this paper proposes a control strategy combining state dependent Riccati equation(SDRE)and adaptive fault tolerance.SDRE method is used to solve the optimal control problem of complex non-linear systems,and the influence of different control inputs on system performance can be analyzed through the flexible selection of weight matrix.First,the SDRE method is used to obtain the optimal control law of regenera-tive braking system based on stability control.Then,the fault types of electric vehicle brake actuators are ana-lyzed,adaptive fault compensation controllers are designed for various uncertain fault situations,and the weight-ed fusion is integrated into a comprehensive controller that can solve various types of faults.The proposed control method can ensure that the actuator can still achieve the desired braking performance and ensure the stability of the vehicle braking when an uncertain fault occurs.Finally,the validity of this method is verified based on MAT-LAB/simulink simulation.

关 键 词：再生制动 SDRE控制 自适应控制 故障补偿 

分 类 号：U469.72[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]