The invention discloses a distributed sliding plate chassis and a complementary type active fault-tolerant control method thereof. The distributed sliding plate chassis comprises a left front angle module, a right front angle module, a left rear angle module, a right rear angle module, a frame, a power supply module and a complementary type active fault-tolerant controller. According to the method, distributed sliding plate chassis multi-degree-of-freedom complementation under target signal deficiency in active fault-tolerant control is considered, a dynamic complementation active cooperative fault-tolerant strategy is introduced, the chassis function can still be kept when partial failure occurs, and active fault-tolerant control over transverse, longitudinal and vertical functional integrity of a system before and after the chassis breaks down is achieved; complementary function control of the chassis can be realized in a partial fault state, and the dynamic complementary active fault-tolerant performance of the system is improved.
本发明公开了一种分布式滑板底盘及其互补型主动容错控制方法,包括:左前角模块、右前角模块、左后角模块、右后角模块、车架、供电模块及互补型主动容错控制器;本发明考虑主动容错控制中目标信号缺失下的分布式滑板底盘多自由度互补,并引入动态互补主动协同容错策略,当部分失效时仍能保持底盘功能,实现底盘在故障前后系统横向、纵向及垂向的功能完整性主动容错控制,使底盘能够在部分故障状态下实现互补型的功能控制,提高系统的动态互补主动容错性能。
Distributed sliding plate chassis and complementary active fault-tolerant control method thereof
一种分布式滑板底盘及其互补型主动容错控制方法
2024-01-26
Patent
Electronic Resource
Chinese
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 / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge |
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