The invention relates to a distributed driving automobile chassis function mutual redundancy fault-tolerant control method, which is characterized in that since the number of actuators of a distributed driving automobile chassis is increased and the fault risk is increased, in order to improve the driving safety, a robust model prediction control algorithm is adopted to improve the fault-tolerant capability of the chassis, and the health conditions of the actuators are monitored in real time through a fault diagnosis module; when an actuator breaks down, the fault degree of the actuator is judged firstly, and if the fault degree is smaller than a set safety threshold value, the fault is regarded as external disturbance of the system, and the RMPC is still used to reduce the influence caused by the disturbance; if the fault degree is larger than a safety threshold value, mutual redundancy fault-tolerant compensation is conducted through functional characteristics of a chassis subsystem, and when a steering motor seriously loses efficacy, a front wheel steering angle is compensated through the characteristic that front wheels of a distributed driving automobile can conduct differential steering; when a certain driving wheel is seriously invalid, the characteristic that the steering motor can actively apply an additional rotating angle is utilized to help the vehicle to quickly correct the posture, so that the safety and the stability of the vehicle are ensured.
本发明涉及一种分布式驱动汽车底盘功能互冗余容错控制方法,由于分布式驱动汽车底盘执行器增多,故障风险增大,为提高行驶安全性,采用鲁棒模型预测控制算法以提高底盘容错能力,并通过故障诊断模块实时监测执行器的健康状况,当有执行器出现故障时,首先判断其故障程度,若故障程度小于设定的安全阈值,则视故障为系统外部扰动并仍使用RMPC以减小扰动带来的影响;若故障程度大于安全阈值,则利用底盘子系统的功能特性进行互冗余容错补偿:当转向电机严重失效时,利用分布式驱动汽车前轮可差动转向的特性补偿前轮转角;当某驱动轮严重失效时,利用转向电机可主动施加额外转角的特性帮助车辆快速纠正姿态,从而保证车辆的安全性与稳定性。
Distributed driving automobile chassis function mutual redundancy fault-tolerant control method
一种分布式驱动汽车底盘功能互冗余容错控制方法
2024-05-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge |
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