The invention discloses an active fault-tolerant control method for an intelligent networked automobile queue under communication time delay, and relates to intelligent safety and automatic driving of automobiles. A vehicle-mounted sensor and a V2X wireless communication system are used for achieving information interaction between the vehicle and other vehicles, the inverse model compensation and feedback linearization technology is adopted, a vehicle queue closed-loop control model with sensor faults and actuator faults is established, and the active fault-tolerant control method of the distributed observer is designed under the influence of communication time delay. Based on a dynamic proportional integral observer, sensor faults and actuator faults are estimated, communication time delay is considered in a controller part, the faults are compensated, the stability of a queue system is achieved, and the expected vehicle-to-vehicle distance and the expected running speed of each vehicle in the queue are ensured. A distributed controller is designed on the basis of fault estimation value design and delayed output information of other vehicles, so that the influence caused by faults of sensors and actuators is restrained, and the aim of queue control is achieved.
通信时延下智能网联汽车队列主动容错控制方法,涉及汽车智能安全与自动驾驶。利用车载传感器以及V2X无线通信系统实现自身和其他车辆的信息交互,采取逆模型补偿和反馈线性化的技术,建立具有传感器故障与执行器故障的汽车队列闭环控制模型,在通信时延影响下设计一种分散式观测器的主动容错控制方法。基于动态比例积分观测器,对传感器故障与执行器故障进行估计,在控制器部分考虑通信时延及对故障进行补偿,实现队列系统的稳定性,确保队列中每辆汽车的期望车车间距以及期望行驶速度。基于故障估计值设计和其他车辆的延迟的输出信息设计分布式控制器,进而抑制传感器与执行器故障带来的影响,实现队列控制的目标。
Active fault-tolerant control method for intelligent networked automobile queue under communication time delay
通信时延下智能网联汽车队列主动容错控制方法
2024-12-24
Patent
Electronic Resource
Chinese
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