The invention provides a distributed steer-by-wire vehicle fault-tolerant control method. The method comprises the steps that a distributed steer-by-wire vehicle dynamics model, a two-degree-of-freedom reference model and a steering motor failure model are established; in the design of the upper fault-tolerant controller, a self-adaptive terminal sliding mode control method is adopted, the method has the characteristics of high robustness and self-adaptive parameter change, and the robustness of the system can be considered while the target tracking performance is ensured. In the design of a lower-layer torque and rotation angle optimal distribution reconstruction controller, a failure factor is introduced, two more objective functions are established on the basis of minimizing the tire load rate, and errors between longitudinal and lateral forces and expected target values and errors between yawing moment and additional yawing moment are reduced while the optimized objective functions are ensured to have solutions. According to the method, the uncertainty of the system during the steering failure is fully considered, and the robustness of the system can be considered while the target tracking performance is ensured, so that the control stability of the distributed steer-by-wire vehicle during the steering failure is improved.
本发明提出一种分布式线控转向车辆容错控制方法,包括:建立分布式线控转向车辆动力学模型、二自由度参考模型和转向电机失效模型;在上层容错控制器的设计中,采用自适应终端滑模控制方法,其具有鲁棒性强,参数自适应变化的特点,能够在保证目标跟踪性能的同时兼顾系统的鲁棒性。在下层转矩、转角优化分配重构控制器设计中,引入失效因子,在最小化轮胎负荷率的基础上,多建立了两个目标函数,确保优化目标函数有解的同时减小纵、侧向力与期望目标值之间的误差以及横摆力矩和附加横摆力矩的误差。本发明充分考虑了转向失效时系统的不确定性,能够在保证目标跟踪性能的同时兼顾系统的鲁棒性,以提高转向失效时分布式线控转向车辆的操纵稳定性。
Distributed steer-by-wire vehicle fault-tolerant control method
一种分布式线控转向车辆容错控制方法
2025-03-21
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 |
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