An actuator fault-tolerant control method for an electric vehicle stabilization system comprises the following steps that the driving state of a vehicle and actuator information are collected, a tire force feasible region and a friction circle guiding range are used for constructing a whole vehicle driving state feasible region, and a reference value of a state quantity is calculated according to a vehicle reference model; according to the state quantity reference value and the actual value as input of an upper-layer vehicle motion controller, a resultant force and a resultant moment of a current working condition are obtained through model prediction control under the constraint of a whole vehicle driving state feasible region, and then tire force is obtained through distribution under the constraint of a tire force feasible region; tire force changes caused by actuator faults are introduced into the whole vehicle dynamic state to reconstruct a controller, firstly, a tire force fault-tolerant feasible region and a whole vehicle driving state fault-tolerant feasible region after faults are obtained, the fault-tolerant feasible regions serve as new constraints to conduct fault-tolerant control, finally, reference input is remodeled for the situation that fault-tolerant control cannot be controlled, and the fault-tolerant control can be achieved. And safe driving of the vehicle is ensured to the maximum extent.
一种针对电动汽车稳定系统的执行器故障容错控制方法,包含以下步骤:采集车辆的行驶状态与执行器信息,利用轮胎力可行域与摩擦圆导向范围构建整车行驶状态可行域,根据车辆参考模型计算出状态量的参考值,并根据状态量参考值和实际值作为上层车辆运动控制器的输入,由模型预测控制在整车行驶状态可行域的约束下得到当前工况的合力和合力矩,进而在轮胎力可行域的约束下分配得到轮胎力,将由执行器故障引起的轮胎力变化引入整车动态对控制器重构,首先得到故障后的轮胎力容错可行域以及整车行驶状态容错可行域,将容错可行域作为新的约束进行容错控制,最后对于容错控制无法控制的状况,对参考输入进行重塑,以最大限度保证车辆可以安全行驶。
Fault-tolerant control method for electric vehicle stabilization system actuator fault
一种针对电动汽车稳定系统执行器故障的容错控制方法
2023-04-04
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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