The invention discloses an actuator failure-oriented steering-differential yaw stability control method. The method comprises the steps of calculating a constraint auxiliary variable based on vehicle dynamics state information, fault information and environment information according to a difference matrix of a target execution command and an actual execution command calculated at the last moment; performing observation fitting on the yaw stability control disturbance matrix based on a radial basis function neural network to obtain a disturbance matrix observation value of yaw stability control; calculating an intermediate control variable target value based on the constraint auxiliary variable and the disturbance matrix observation value; distributing the intermediate control variable target value based on the executive capacity of the executor, and calculating a control command executed by the executor; and executing the corresponding control command through the actuator. Under an actuator fault scene, the residual execution capability is fully utilized, yaw tracking performance reduction caused by execution capability reduction is reduced, and the process that differential steering participates in yaw control is safer and more stable.
本发明公开了一种面向执行器失效的转向‑差动横摆稳定控制方法,本发明的方法包括基于车辆动力学状态信息、故障信息与环境信息并根据上一时刻计算的目标执行命令与实际执行命令的差值矩阵计算约束辅助变量;基于径向基函数神经网络对横摆稳定控制扰动矩阵进行观测拟合,以得到横摆稳定控制的扰动矩阵观测值;基于约束辅助变量和扰动矩阵观测值计算中间控制变量目标值;基于执行器执行能力对中间控制变量目标值进行分配,计算执行器执行的控制命令;通过执行器执行对应控制命令。本发明在执行器故障场景下,充分利用剩余执行能力,减少由于执行能力下降导致横摆跟踪性能下降,使得差动转向参与横摆控制过程更加安全稳定。
Steering-differential yaw stability control method for actuator failure
一种面向执行器失效的转向-差动横摆稳定控制方法
22.10.2024
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 |
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