分布式电动车辆驱动系统MFAC主动容错控制*

doi:10.19562/j.chinasae.qcgc.2019.09.001

汽车工程 ›› 2019, Vol. 41 ›› Issue (9): 983-989.doi: 10.19562/j.chinasae.qcgc.2019.09.001

• • 下一篇

分布式电动车辆驱动系统MFAC主动容错控制^*

胡云^1,2, 江发潮¹, 陈锐², 罗禹贡²

1.中国农业大学工学院,北京 100083;
2.清华大学车辆与运载学院,北京 100084

收稿日期:2018-08-31 修回日期:2018-11-26 出版日期:2019-09-25 发布日期:2019-10-12
通讯作者: 罗禹贡,教授,E-mail:lyg@mail.tsinghua.edu.com
基金资助:
中美项目(2016YFE0102200)和国家自然科学基金(51575295)资助

Active Fault-Tolerant Control Based on MFAC for 4WID EV Driving System

Hu Yun^1,2, Jiang Fachao¹, Chen Rui² & Luo Yugong²

1.College of Engineering, China Agricultural University, Beijing 100083;
2.School of Vehicle and Mobility, Tsinghua University, Beijing 100084

Received:2018-08-31 Revised:2018-11-26 Online:2019-09-25 Published:2019-10-12

摘要/Abstract

摘要： 为解决分布式电驱动车辆驱动系统主动容错控制大多需要依赖于复杂、非线性车辆模型以及精确故障信息这一问题,提出了基于多输入多输出无模型自适应主动容错控制方法。该方法在控制系统设计时仅利用车辆系统的多个输入输出信息,在各个失效工况下,通过驱动系统和转向系统的协同容错控制,保证车辆既能维持期望车速也不偏离既定轨迹行驶,并通过理论推导证明了控制器单调收敛性和有界输入输出。基于MATLAB/Simulink和CarSim的联合仿真对控制算法有效性进行了验证,典型工况下,整车纵向速度误差维持在3%以内,横向不失稳以及不跑偏,确保了行驶安全;在此基础上通过驾驶模拟器实验验证了控制算法的实时性。

关键词: 分布式电驱动车辆, 容错控制, 无模型自适应控制

Abstract: To solve the problem of the existing active fault-tolerant control of four-wheel independent drive (4WID) electric vehicles (EV), which mostly relies on complex and non-linear vehicle model and accurate fault diagnosis information, a multi-input and multi-output model free adaptive active fault-tolerant control method is proposed. The method only uses multiple input and output information of vehicle system in the design of the control system. The coordinated fault-tolerant control of the driving system and the steering system ensures that the vehicle can maintain the desired speed and not deviate from the set trajectory under various failure conditions. The controller monotonic convergence and boundary input and output are proved by theoretical derivation. Based on the joint simulation of MATLAB/Simulink and CarSim, the validity of the control algorithm is verified. Under typical working conditions, the vehicle longitudinal speed error is maintained within 3%, with lateral stability and non-deviation, which ensures driving safety. On this basis, the real-time performance of the control algorithm is verified by the driving simulator experiment.

Key words: four-wheel independent drive electric vehicles, fault-tolerant control, model-free adaptive control

胡云, 江发潮, 陈锐, 罗禹贡. 分布式电动车辆驱动系统MFAC主动容错控制^*[J]. 汽车工程, 2019, 41(9): 983-989.

Hu Yun, Jiang Fachao, Chen Rui & Luo Yugong. Active Fault-Tolerant Control Based on MFAC for 4WID EV Driving System[J]. Automotive Engineering, 2019, 41(9): 983-989.

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分布式电动车辆驱动系统MFAC主动容错控制^*

Active Fault-Tolerant Control Based on MFAC for 4WID EV Driving System

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