不确定性智能车辆转向系统的容错控制方法研究  

Research on Fault Tolerant Control Method of Uncertain Intelligent Vehicle Steering System

作　　者：卢中德[1] 李红娟[2] 王立刚[1] LU Zhongde;LI Hongjuan;WANG Ligang(Department of Automotive Engineering,Liaoning Provincial College of Communications,Shenyang 110122,China;School of Mechanical Engineering,Ningxia Institute of Science and Technology,Shizuishan 753000,China)

机构地区：[1]辽宁省交通高等专科学校汽车工程系,辽宁沈阳110122 [2]宁夏理工学院机械工程学院,宁夏石嘴山753000

出　　处：《控制工程》2024年第6期1099-1106,共8页Control Engineering of China

基　　金：宁夏自然科学基金资助项目(2023AAC03360);宁夏高校科学研究项目(NGY2022147)。

摘　　要：对存在执行器死区、故障现象和模型不确定性的智能车辆转向系统的跟踪控制问题进行研究。首先,采用自适应模糊逻辑系统对转向系统中难以建模的非线性项进行在线逼近,并结合动态增益技术为智能车辆转向系统设计了自适应滑模控制器,以补偿系统控制增益未知、执行器死区和故障现象对控制性能的影响。此外,在该滑模控制器的设计中,采用一阶滤波技术消除了滑模控制器对转向系统造成的抖振。最后,结合李雅普诺夫稳定性理论分析可知,所设计的控制器可以实现智能车辆转向系统的渐近稳定,并通过数值仿真和整车实验验证了所设计的控制方法的合理性。The tracking control problem of intelligent vehicle steering system with actuator dead zone,fault phenomenon and model uncertainty is studied.Firstly,the adaptive fuzzy logic system is adopted to approximate the nonlinear term that is difficult to model in the steering system online,and an adaptive sliding mode controller is designed for the intelligent vehicle steering system by combing with dynamic gain technology to compensate the effect of unknown control gain,actuator dead zone and failure phenomenon on the control performance.Secondly,in the design of the sliding mode controller,the chattering phenomenon caused by the sliding mode controller on the steering system is eliminated by using first-order filtering technology.Finally,by combining Lyapunov stability theorem,it can be seen that the designed control method can achieve the asymptotic stability of the intelligent vehicle steering system.The rationality of the control method is verified by numerical simulation and vehicle experiment.

关 键 词：转向系统 执行器故障 模型不确定性 模糊逻辑系统 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]