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

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。

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 interference is established,an improved fault observer is designed for fault diagnosis,and actuator failures are estimated by fault observer and the convergence analysis of the observer is given.In order to ensure the stability of the vehicle after failure or to be able to move according to the desired trajectory,a fault-tolerant controller 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 actuator fault.