线控转向系统故障检测及容错控制协同设计

为解决线控转向系统故障可能导致车辆失控的问题,提出一种故障检测及容错控制协同设计方法。首先,建立了包含线控转向系统加性故障的车辆动力学模型;其次,联合车辆动力学模型及故障检测/容错控制器,建立跟踪误差闭环控制系统;然后,求解满足闭环系统H∞性能的线性矩阵不等式,得到故障检测/容错控制器参数;最后,基于dSPACE Full-Size HIL进行硬件在环仿真测试。结果表明,该方法可快速检测出转向系统故障,同时实现了车辆的容错控制。

Simultaneous Fault Detection and Control for Steering-by-Wire System

In this paper,a Simultaneous Fault Detection And Control(SFDC)method for steering-by-wire system is proposed to keep vehicle still under control when faults happen.Firstly,the vehicle dynamics model with steering-by-wire system faults is established;secondly,the error closed-loop control system which composed of vehicle dynamics model and fault detector/fault-tolerant controller is established.Thirdly,the parameters of fault detector/fault-tolerant controller are obtained by solving a set of linear matrix inequalities.Finally,the HIL experiments are carried out on dSPACE Full-Size HIL hardware.The simulation results show that the fault detection and fault-tolerant control method designed in this paper can not only detect the steering system faults quickly,but also keep the vehicle under control with faults while driving.