分布式电驱动车辆线控转向系统MFAC主动容错控制

Active Fault-tolerant Control Based on MFAC or 4WID EV with Steering by Wire System

为解决分布式电驱动车辆线控转向系统容错控制大多需要故障诊断与隔离模块,以及过于依赖精确车辆动力学模型问题,提出基于多输入多输出无模型自适应线控容错控制方法。通过分析车辆3自由度模型确定无模型自适应控制的输入输出关系,建立面向线控转向系统的多输入多输出无模型自适应主动容错控制器(Multi-input multi-output model free adaptive control,MIMO-MFAC)并进行求解,并通过理论推导证明了控制器单调收敛。在此基础上基于Matlab/Simulink和CarSim对该容错控制方法进行了仿真验证,仿真结果表明当转向系统发生故障时,容错控制方法能协同驱动系统产生额外的横摆力矩进行补偿,保证车辆既能维持期望车速也不偏离既定轨迹行驶。最后,通过驾驶模拟器试验验证了该容错控制算法的实时性。

To solve the problem of the existing active fault-tolerant control methods for distributed electric drive vehicle active steering system,which need fault diagnosis and isolation module and rely on accurate vehicle dynamics model,a multi-input multi-output model-free adaptive active fault-tolerant control method is proposed.Firstly,a three-degree-of-freedom model of the vehicle is used to determine the input-output relationship of the model-free adaptive control,and the multi-input multi-output model free adaptive control(MIMO-MFAC)fault-tolerant controller for the active steering system is established and solved.Then the monotonic convergence of the controller is theoretical proved.Based on Matlab/Simulink and CarSim,the simulation experiments are carried out and the results show that the fault-tolerant control algorithm compensates the steering system fault by generating additional yaw moments to ensure that the vehicle can maintain the desired speed and not deviate from the desired path.Finally,the real-time performance of the fault-tolerant control algorithm is verified by driving simulator experiments.