滑模方法在分布式电动车容错控制上的应用

Sliding Mode Based Fault-Tolerant Control of a Distribute Vehicle

分布式电动车是一种由轮毂电机驱动的新型车辆。针对其驱动系统部分失效的情况下车辆发生跑偏等的问题,设计了一种基于滑模变结构控制的被动容错控制方法,该控制方法不需要精确的故障估计信息便能够对车辆进行有效控制。首先,讨论了可能发生的失效,建立了所需的车辆模型。而后,使用二自由度车辆模型作为参考模型,建立了基于横摆角速度、质心侧偏角的协调控制滑膜变结构容错控制器,并对收敛性进行了讨论。最后,使用NI-PXI硬件在环测试设备进行试验,以检验所设计控制器的性能。结果表明,所设计控制策略能够改善故障车辆性能。

Distributed electric vehicle is a new type vehicle driven by in-wheel motors.To improve the vehicle performance when a driving system failure occurs,a sliding mode based passive fault-tolerant control method is presented in this paper.With this control method,the controller is always effective whether the fault information is accurate or not.Firstly,failure modes of a vehicle are discussed,and a vehicle model concludes faults is established.Secondly,a two-degree of freedom bicycle vehicle model is used to generate the reference signals,then a sliding mode based coordinative controller to follow the reference signals is established,and its convergence is discussed.Finally,a hardware in loop(HIL)test shows that the controller is effective,and it has ability to improve the performance of a malfunction vehicle.