基于故障观测器的线控四轮转向汽车容错控制
Fault-tolerant control of wire controlled four-wheel steering vehicle based on fault observer
王远 1李涛 2刘金华1
作者信息
- 1. 南京信息工程大学自动化学院,南京 210044
- 2. 南京信息工程大学自动化学院,南京 210044;江苏省大气环境与装备技术协同创新中心,南京 210044
- 折叠
摘要
针对线控四轮转向汽车在转向时存在外部干扰和执行器故障问题,建立了包含执行器故障和干扰的线性二自由度车辆动力学模型,设计了一种改进的故障观测器,通过故障观测器来估计执行器故障,并给出了观测器的收敛性分析.为了保证汽车在发生故障后仍能按照期望的轨迹运动,以跟踪参考模型为目标设计了容错控制器,使汽车在故障情况下跟踪参考质心侧偏角和横摆角速度.最后基于Matlab/Simulink进行仿真验证,结果表明该方法能够提升汽车执行器故障下的容错性能.
Abstract
To tackle the problems of external interference and actuator failure in wire controlled four-wheel steer vehicles,a linear two-degree-of-freedom vehicle dynamics model including actuator fault and interfer-ence is established,an improved fault observer is designed for fault diagnosis,and actuator failures are esti-mated by fault observer and the convergence analysis of the observer is given.In order to ensure the stabili-ty of the vehicle after failure or to be able to move according to the desired trajectory,a fault-tolerant con-troller is designed with the goal of tracking the reference model,so that the vehicle can track the reference side slip angle and yaw rate in the event of a fault.Finally,based on Matlab/Simulink,the simulation is verified,and the results show that the proposed method can improve the fault tolerance performance in actu-ator fault.
关键词
四轮转向汽车/故障观测器/故障估计/容错控制Key words
four-wheel steering vehicle/fault observer/failure estimation/fault-tolerant control引用本文复制引用
基金项目
中国高校产学研创新基金(2022BL066)
出版年
2024
NETL
NSTL
万方数据