基于非奇异快速终端滑模控制的电动汽车转向失效容错协同控制研究  

Fault-Tolerant Cooperative Control Based on NFTSMC for Electric Vehicles under Steering System Failure

作　　者：刘轩江 林棻[1] 王天成 马洪旺 Liu Xuanjiang;Lin Fen;Wang Tiancheng;Ma Hongwang(College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)

机构地区：[1]南京航空航天大学能源与动力学院,南京210016

出　　处：《汽车技术》2025年第4期10-19,共10页Automobile Technology

基　　金：国家自然科学基金项目(52272397);南京航空航天大学研究生科研与实践创新计划(xcxjh20230207)。

摘　　要：针对分布式驱动电动汽车在转向系统失效无法准确跟踪期望轨迹的问题,提出了一种考虑转向失效后车辆稳定性与轨迹跟踪的容错协同控制策略。首先分别基于模型预测控制和滑模控制计算期望前轮转角和附加横摆力矩;其次,针对转向系统失效故障,基于非奇异快速终端滑模控制设计了前轮转角跟踪控制器,求解实现期望转角所需的差动转向力矩;然后,以轮胎负荷率和控制量误差最小化为优化目标,基于二次规划算法实现轮胎力分配。最后,分别在中速高附着系数和高速低附着系数两种工况下进行仿真试验,结果表明,所提出的容错控制策略在转向系统失效后仍能使车辆稳定跟踪期望轨迹,具有良好的控制效果。To address the problem that distributed-drive electric vehicles cannot accurately track the desired trajectory after steering system failure,this paper proposes a fault-tolerant control strategy that considers vehicle stability and trajectory tracking after steering failure.Firstly,the desired front wheel angle and additional transverse moment are calculated based on model prediction control and sliding mode control,respectively.Then,for the steering system failure fault,a front wheel angle tracking controller is designed based on non-singular terminal sliding mode control to solve the differential steering moment required to achieve the desired angle.Secondly,with the optimization objectives of minimizing the tire loading rate and the control volume error,the tire force distribution is realized based on the quadratic programming algorithm.Finally,simulation tests are carried out under two working conditions of medium-speed high adhesion coefficient and high-speed low adhesion coefficient respectively,and the results show that the proposed fault-tolerant control strategy can still make the vehicle track the desired trajectory stably after the steering system fails,and it has good control effect.

关 键 词：协同控制 容错控制 电动汽车 转向失效 非奇异快速终端滑模控制 

分 类 号：U462.35[机械工程—车辆工程]