The invention discloses a distributed active fault-tolerant control method of a four-wheel steer-by-wire system, and relates to the field of automobile four-wheel steer-by-wire system control. The method comprises the following steps: determining ideal automobile yaw velocities and side slip angles of four wheels through a reference model; real-time yaw velocity and mass center side slip angles of four wheels are determined through a four-wheel yaw velocity and mass center side slip angle calculation module; determining a weighted adjacent matrix, a degree matrix and a Laplacian matrix of four wheels through four steering agent information exchange topological structure modules; a distributed active fault-tolerant control module of the four-wheel steer-by-wire system is used for solving the turning angles of four wheels of the automobile under the condition that the actuator fault is known/unknown; and realizing yaw stability control of the automobile through the CarSim automobile model, and outputting real-time motion state information of the automobile. According to the method, the calculation efficiency and the vehicle stability performance are effectively balanced, and the safety and the stability of the four-wheel steer-by-wire system under the conditions of an actuator gain change fault, a constant deviation fault and a jamming fault are improved.

    四轮线控转向系统的分布式主动容错控制方法涉及汽车四轮线控转向系统控制领域,其通过参考模型确定四个车轮理想的汽车横摆角速度和质心侧偏角;通过四轮横摆角速度和质心侧偏角计算模块确定四个车轮实时的横摆角速度和质心侧偏角;通过四个转向智能体信息交换拓扑结构模块确定四个车轮的加权邻接矩阵、度矩阵和拉普拉斯矩阵;通过四轮线控转向系统的分布式主动容错控制模块求解出执行器故障已知/未知情况下的汽车四个车轮转角;通过CarSim汽车模型实现汽车的横摆稳定性控制,并输出汽车的实时运动状态信息。本发明有效权衡了计算效率和车辆稳定性能,提高了执行器增益变化故障、恒偏差故障和卡死故障情况下四轮线控转向系统的安全性和稳定性。


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    Titel :

    Distributed active fault-tolerant control method of four-wheel steer-by-wire system


    Weitere Titelangaben:

    四轮线控转向系统的分布式主动容错控制方法


    Beteiligte:
    LEE JONG-HO (Autor:in) / DING HAITAO (Autor:in) / ZHANG NA (Autor:in) / WU GUANGYI (Autor:in) / LI HAOLIN (Autor:in) / CHENG SHUAIZHI (Autor:in) / SUN KAI (Autor:in)

    Erscheinungsdatum :

    2024-03-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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