摘要
为了提高电动汽转向系统主动容错控制能力,开发出一种包含多输入多输出参数的无模型自适应控制(Multi-input multi-output model free adaptive control, MIMO-MFAC)技术。当转向系统出现故障问题时,通过四轮驱动电机形成横摆力矩方式来提供补偿功能,确保汽车达到目标车速并与既定轨迹保持有效跟踪状态,从而保证安全行驶控制性能。仿真结果表明容错系统可以确保汽车在高速工况下不具备转向控制能力时也可以完成汽车调控。设置容错系统可以使汽车横摆角速度差值低于0.000 5 rad/s,汽车横向位置差值低于0.110 5 m,确保汽车处于10 cm的安全区间内。测试结果和仿真结果相符,表明本主动容错控制系统可以使汽车线控转向系统。横摆角速度达到了0.000 4 rad/s的最大差值,并产生了0.110 2 m的最大横向偏差,确保转向系统出现故障的情况下也可以控制汽车被控制在安全区间内。
In order to improve the active fault-tolerant control capability of electric vehicle steering systems,this paper develops a multi-input muli-output model-free adaptive control(MIMO-MFAC)technology with multi-input and multi-output parameters.When the steering system fails,the four-wheel drive motor forms the yaw moment to provide the compensation function to ensure that the vehicle reaches the target speed and keeps effective tracking state with the established trajectory,so as to ensure the safe driving control performance.The simulation results show that the faulttolerant system can ensure that the vehicle can be controlled even when it does not have steering control ability at high speed.Setting fault tolerance system can keep the car yaw speed difference under 0.0005 rad/s,the car lateral position difference under 0.1105 m,and ensure that the car is in a 10 cm safe interval.The test results are consistent with the simulation results,indicating that the active fault-tolerant control system can realize the automotive steer-bywire system.The yaw speed reaches a maximum difference of 0.0004 rad/s and produces a maximum lateral deviation of 0.1102 m,ensuring that the car can be controlled within a safe range in the event of steering failure.
作者
王其松
罗春雷
唐云祥
靖文
李爱花
WANG Qisong;LUO Chunlei;TANG Yunxiang;JING Wen;LI Aihua(School of Automotive and Transportation,Yancheng Polytechnic College,Yancheng Jiangsu 224005,China;School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;Nanjing Iron&Steel Group Co.,Ltd.,Nanjing 210035,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第5期134-137,共4页
Machine Design And Research
基金
江苏省产学研合作前瞻性联合研究项目(BY2016067-03)。
关键词
电动汽车
主动容错控制
无模型自适应控制
线控转向系统
electric vehicle
active fault tolerant control
model-free adaptive control
steer-by-wire system
