The preset performance fault-tolerant control method of the steer-by-wire system is low in calculation complexity. The control method comprises the steps of determining a control target based on a preset performance control method; designing a new preset performance function and an error transformation function; designing a virtual control law and a control law in the controller by combining a robust control method; based on system dynamics, establishing a kinetic model of the steer-by-wire system; establishing a dead zone model and a fault model according to the influence of the dead zone and the fault of the automobile actuator on the control performance of the steer-by-wire system; meanwhile, an input nonlinear model of the steer-by-wire system is obtained; then establishing a state space model of the steer-by-wire system; and finally, verifying the control effect of the controller through the state space model, and optimizing internal designed parameters of the controller. According to the method, the problems of faults and dead zones are considered, and the robustness of the controller is improved; considering that the computing resources of the whole vehicle are limited, the designed controller is simple in structure, and the computing efficiency of the whole vehicle is improved.

    本发明提供了一种低计算复杂度的线控转向系统预设性能容错控制方法。控制方法包括:基于预设性能控制方法,确定控制目标;随后设计新的预设性能函数和误差变换函数;结合鲁棒控制方法,设计控制器中的虚拟控制律和控制律;基于系统动力学,建立线控转向系统的动力学模型;根据汽车执行器死区和故障对线控转向系统控制性能的影响,建立死区模型和故障模型;同时得到线控转向系统的输入非线性模型;随后建立线控转向系统状态空间模型;最后,通过状态空间模型验证控制器控制效果并优化其内部所设计参数。本发明考虑了故障和死区问题,提高了控制器的鲁棒性;考虑了整车计算资源有限,所设计的控制器结构简单提高了整车的计算效率。


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    Title :

    Steer-by-wire system preset performance fault-tolerant control method with low calculation complexity


    Additional title:

    一种低计算复杂度的线控转向系统预设性能容错控制方法


    Contributors:
    MA BINGXIN (author) / LI JIWU (author) / TANG XIANZHI (author) / LI HONGJUAN (author) / NIU ZIZHOU (author)

    Publication date :

    2023-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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