CN110789350A - Fault-tolerant control method for four-wheel drive electric vehicle - Google Patents

Fault-tolerant control method for four-wheel drive electric vehicle Download PDF

Info

Publication number
CN110789350A
CN110789350A CN201911139391.4A CN201911139391A CN110789350A CN 110789350 A CN110789350 A CN 110789350A CN 201911139391 A CN201911139391 A CN 201911139391A CN 110789350 A CN110789350 A CN 110789350A
Authority
CN
China
Prior art keywords
electric vehicle
drive electric
fault
observer
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911139391.4A
Other languages
Chinese (zh)
Inventor
郭斌
陈勇
李万富
李猛
陈章勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China
Original Assignee
University of Electronic Science and Technology of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201911139391.4A priority Critical patent/CN110789350A/en
Publication of CN110789350A publication Critical patent/CN110789350A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/022—Actuator failures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a four-wheel independent drive electric vehicle fault-tolerant control method, which comprises the steps of designing a composite observer based on a system model of a four-wheel drive electric vehicle subjected to actuator faults and external disturbance, and outputting the observer to electric vehicle system state estimation, actuator fault estimation and interference estimation. Second, the adaptive sliding mode controller combines the composite observer output value with the system reference information. In addition, the event trigger mechanism is a sensor-to-controller channel, which utilizes observation information and controller output; finally, event-triggered based controllers incorporate event-triggered mechanisms, the output of which acts on the actuators of four-wheel drive electric vehicles. The invention can effectively solve the problem that the system effectively carries out fault-tolerant control in real time under the condition that the four-wheel independent drive electric automobile is subjected to actuator faults and external disturbance.

Description

Fault-tolerant control method for four-wheel drive electric vehicle
Technical Field
The invention belongs to the field of system fault-tolerant control of a four-wheel drive electric vehicle with actuator faults and external disturbance, and particularly relates to a four-wheel drive electric vehicle subjected to actuator faults and external disturbance, a composite observer, an adaptive sliding mode controller, an event trigger mechanism and a controller based on event trigger, wherein the four-wheel drive electric vehicle is generally called a four-wheel drive electric vehicle fault-tolerant control method.
Background
With the development of industry and the increasing demand for environmental traffic, an electric vehicle as a new energy vehicle has become an important part of social life, and is expected to be more widely applied to various industries in the future. The electric vehicle (FWIA) with the four-wheel independent driving structure frame has better comprehensive performance and can safely run under different road conditions such as icing, humidity and dryness. The four wheels of the FWIA system can be independently controlled to ensure lateral stability and path tracking performance. Although four-wheel independent drive electric vehicles have some advantages, their safety has been one of the most important concerns. On one hand, as the complexity of the system increases, the probability of failure of the actuators and sensors also increases correspondingly; on the other hand, external disturbances of the system, such as load fluctuations and changes in road conditions, will also cause system failures to occur. After a malfunction occurs, the speed and yaw rate of the car system will be severely affected and even the stability of the system will be compromised, i.e. the vehicle will deviate from the desired trajectory.
Currently, there are some relevant documents for fault-tolerant control of electric vehicles, for example, in the document [ "active-fault-tolerant control for electric vehicles with independent drive, drive-wheel motors against fault actual controllers," (IEEE Transactions on control Systems technologies, 2015,24(5): 1557:1572.) ], an active fault-tolerant control scheme is proposed for electric vehicles with independent drive by using fault detection Technology, and a robust gain scheduling algorithm is applied to design a controller. In the 'Fault-tolerant control with active Fault diagnosis for four-wheel independent drive electric vehicles' (IEEE Transactions on vehicle Technology,2011,60(9): 4276-. However, it is difficult to establish a failure detection mechanism in some cases. In the absence of online fault information, the passive fault-tolerant control technology also achieves great results. In the literature [ "Passionactuatorfault-toleren control for a class of over-actuated nonlinearities and applications to electric vehicles," (IEEE Transactions on vehicular Technology,2012,62(3):972-985.) ], a passive FTC method is proposed, which is combined with a packet control and control allocation method to implement fault-tolerant control of actuator faults. In [ "Optimal input design for fault identification of over activated electric devices," (IEEEtransactions on Vehicular Technology,2015,65(4): 1912-.
These results take into account the stability or tracking performance of the electric vehicle system. On the one hand, however, few documents consider the influence of external disturbances of the electric vehicle on the control performance, and when considering faults, the actuator faults considered by the documents are relatively simple; on the other hand, in the control of electric vehicles, there is little research on event-triggered control strategies, and it is still a challenge to reduce the amount of information transmitted by the system while maintaining the control of system stability.
Disclosure of Invention
The invention aims to overcome the defects of the traditional technology and provide a self-adaptive fault-tolerant control method for a four-wheel drive electric vehicle, which is to design a controller based on event triggering under the influence of actuator faults and interference on the four-wheel drive electric vehicle, so as to compensate the influence of the actuator faults and external disturbance on the four-wheel drive electric vehicle and keep the track tracking capability of a four-wheel drive electric vehicle system with higher precision. .
In order to achieve the purpose, the invention relates to a four-wheel drive electric vehicle fault-tolerant control method which is characterized by comprising a four-wheel drive electric vehicle subjected to actuator faults and external disturbance, a compound observer, a self-adaptive sliding mode controller, an event trigger mechanism and a controller based on event trigger;
(1) designing a composite observer based on a system model of the four-wheel drive electric vehicle subjected to actuator faults and external disturbance, wherein the output of the observer is electric vehicle system state estimation, actuator fault estimation and interference estimation;
(2) the self-adaptive sliding mode controller combines the output value of the composite observer and system reference information;
(3) the event triggering mechanism is a channel from the sensor to the controller, and utilizes observation information and controller output;
(4) an event-triggered based controller incorporates an event-triggered mechanism, the output of which acts on the actuators of a four-wheel drive electric vehicle.
The purpose of the invention is realized as follows:
the invention relates to a four-wheel independent drive electric vehicle fault-tolerant control method, which comprises a four-wheel drive electric vehicle subjected to actuator faults and external disturbance, a composite observer, an adaptive sliding mode controller, an event trigger mechanism and a controller based on event trigger. The purpose is to realize the timeliness of the fault-tolerant control of the four-wheel-drive electric automobile. The specific method comprises the following steps: firstly, a composite observer is designed based on a system model of a four-wheel drive electric vehicle subjected to actuator faults and external disturbance, and the output of the composite observer is electric vehicle system state estimation, actuator fault estimation and interference estimation. Second, the adaptive sliding mode controller combines the composite observer output value with the system reference information. In addition, the event trigger mechanism is a sensor-to-controller channel, which utilizes observation information and controller output; finally, event-triggered based controllers incorporate event-triggered mechanisms, the output of which acts on the actuators of four-wheel drive electric vehicles. The invention can effectively solve the problem that the system effectively carries out fault-tolerant control in real time under the condition that the four-wheel independent drive electric automobile is subjected to actuator faults and external disturbance.
Drawings
Fig. 1 is a control block diagram of an embodiment of the fault-tolerant control method for the four-wheel drive electric vehicle according to the invention.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Because the external disturbance of the actual system is always bounded, the total disturbance omega (t) of the system is supposed to satisfy the following condition that | ω (t) | ≦ dkAnd an
Figure BDA0002280492260000031
Wherein d iskAnd d andcare two known constants.
The composite observer comprises a state observer, a failure factor detector for fault observation and a disturbance observer, and introduces an observation error compensation term deltas(t) of (d). The results are as follows:
Figure BDA0002280492260000032
wherein the content of the first and second substances,and
Figure BDA0002280492260000034
respectively represent the sum of the values of the pairs x (t),
Figure BDA0002280492260000035
ω (t), y (t) and
Figure BDA0002280492260000039
is estimated by the sum of (a), (b), (c), (d), (,
Figure BDA0002280492260000036
ω 9t), y (t) and
Figure BDA0002280492260000037
indicating electric vehicle systemStatus, electric vehicle system function, total disturbance, output, and actuator failure factor.Bm(theta) represents an electric vehicle system function, vmIndicating the control gain without failure.
Figure BDA0002280492260000041
Wherein
Figure BDA0002280492260000042
εjAnd pijIs z-1And
Figure BDA00022804922600000420
the jth element, z and zmFor the two diagonal moments, Q positively defines a symmetric matrix. L, H and H1A matrix of the observer gains is represented,
Figure BDA0002280492260000044
the design is as follows:
Figure BDA0002280492260000045
Figure BDA0002280492260000046
wherein the content of the first and second substances,
Figure BDA0002280492260000047
Figure BDA0002280492260000048
is a constant number of times, and is,
Figure BDA0002280492260000049
to represent
Figure BDA00022804922600000410
Is estimated by the estimation of (a) a,
Figure BDA00022804922600000411
is the first order filtered output of the observer.
The self-adaptive sliding mode controller comprises:
Figure BDA00022804922600000412
wherein e isrWhich is indicative of a tracking error,
Figure BDA00022804922600000413
β2(er)＝λ2/(1+λ2exp(-τ|eri))) where τ > 0 and λ1＞1，0＜λ2＜1。1＜α1Q/p < 2, p and q being two odd numbers α2＞α1。
The designed event trigger mechanism is a controller-to-actuator channel. The design triggering conditions are as follows:
Figure BDA00022804922600000414
wherein the content of the first and second substances,
Figure BDA00022804922600000416
Ψ is a matrix. Kappa1、κ2、μ1And mu2Are all positive numbers.
The event trigger based controller is: u (t)m)＝u1(tm)+u2(tm) Wherein, in the step (A),
Figure BDA00022804922600000417
Figure BDA00022804922600000418
in the formula, s represents
Figure BDA00022804922600000419
The technical scheme of the invention is described in detail below by taking a four-wheel drive electric vehicle fault-tolerant control system as an example and combining the accompanying drawings. As shown in FIG. 1, the present invention includes a four-drive electric vehicle including an actuator failure and external disturbances, a compound observer, an adaptive sliding mode controller, an event trigger mechanism, and an event trigger-based controller
Model building
Establishing a four-wheel drive electric automobile model with interference:
Figure BDA0002280492260000051
wherein, Vx，VyAnd r represents the lateral velocity, the longitudinal velocity, and the yaw rate, respectively.Tire forces in the lateral and longitudinal directions are indicated, and i ═ { ql, qr, hl, hr } indicates front left, front right, rear left, and rear right tires. lfAnd lrIndicating the distance from the front and rear wheels to the centre of the vehicle, lsRepresenting half the distance separation of the wheels on both sideszThe moment of inertia, m, represents the mass of the vehicle. Theta represents a tire side slip angle, CaIndicating air resistance.
Figure BDA0002280492260000053
Indicating an external disturbance.
The wheel model is considered as:
Figure BDA0002280492260000054
Iωrepresenting wheel inertia, RfRepresenting the wheel radius, wiIndicating the angular velocity. The velocity can be expressed as: v. ofi＝Ti/ui,i＝{ql,qr,hl,hr}，TiRepresenting wheel-drive motor torque, uiRepresenting a control input.
Consider an actuator fault model as:
Figure BDA00022804922600000513
wherein the content of the first and second substances,
Figure BDA0002280492260000055
a failure factor is indicated for a fault,
Figure BDA0002280492260000056
εi∈{0,1}，vsi(t) indicates an actuator paranoia fault. Suppose that
Figure BDA0002280492260000057
Wherein
Figure BDA0002280492260000058
Consider the tire force equation as:
wherein the content of the first and second substances,
Figure BDA00022804922600000510
Cq,hrepresenting the stiffness coefficient.
The electric vehicle state space with faults and disturbances can be written as:
Figure BDA00022804922600000511
wherein
Figure BDA00022804922600000512
Figure BDA0002280492260000061
Figure BDA0002280492260000062
Figure BDA0002280492260000064
Figure BDA0002280492260000065
Figure BDA0002280492260000066
vs(t)＝diag{vsi(t)},i＝{ql,qr,hl,hr}.
Sensor-to-controller channel trigger mechanism design:
Figure BDA0002280492260000067
wherein the content of the first and second substances,
Figure BDA0002280492260000068
is a weight matrix, Λ e (0,1) is a given parameter, y (t) represents the current output, y (t)k)(k＝0,1,...,t00) represents the most recently transmitted value.
Design and certification of the observer:
wherein
Figure BDA00022804922600000611
εjAnd pijIs z-1And
Figure BDA00022804922600000612
the jth element, z and zmFor the two diagonal moments, Q positively defines a symmetric matrix. L, H and H1Representing the observer gain matrix.
Figure BDA00022804922600000613
The design is as follows:
Figure BDA00022804922600000614
Figure BDA00022804922600000615
wherein
Figure BDA00022804922600000616
From the above formula, one can obtain:
Figure BDA0002280492260000071
Figure BDA0002280492260000072
Figure BDA0002280492260000073
Figure BDA0002280492260000074
and (3) proving that: the systematic observation error can approach zero when the following condition (14) is satisfied.
Figure BDA0002280492260000075
Wherein the content of the first and second substances,
Figure BDA0002280492260000076
and
Figure BDA0002280492260000077
two non-negative matrices, η1And
Figure BDA00022804922600000716
two positive numbers.
The Lyapuloff function is chosen as:
Figure BDA0002280492260000078
derivatives of the above formula are available to persons (6) - (14):
wherein, thetamAnd ΘnSatisfies the following conditions: -2z-1≤-ΘmI,
Figure BDA00022804922600000710
According to the Liapuloff's theorem, when P (A)c-Lc)+(Ac-Lc)TAnd if P is less than 0, the observation error can be converged to zero, and the verification is finished.
Design and analysis of controller
① adaptive sliding mode function design:
the tracking error is defined as:
Figure BDA00022804922600000711
the slip form surface is designed as follows:
Figure BDA00022804922600000712
wherein 1 is less than α1Q/p < 2, p and q being two odd numbers α2＞α1. Two adaptive parameters are respectively expressed as
Figure BDA00022804922600000713
β2(er)＝λ2/(1+λ2exp(-τ|erI))) where τ > 0 and λ1＞1，0＜λ2＜1。
② controller-to-actuator trigger design:
Figure BDA00022804922600000714
wherein the content of the first and second substances,
Figure BDA00022804922600000715
Ψ is a parameter matrix μ1And mu2Is two positive numbers, k1＞0，κ2＞0.
③ controller design
The controller is designed as follows:
u(tm)＝u1(tm)+u2(tm) (19)
wherein:
Figure BDA0002280492260000081
in the above formula:
Figure BDA0002280492260000084
is xsEstimate of χsIs defined as:
Figure BDA0002280492260000085
Figure BDA0002280492260000086
the update rate of (a) is as follows,
when s (t) ≠ 0:
Figure BDA0002280492260000087
when s (t) is 0,
Figure BDA0002280492260000088
the update rate of (c) is:
Figure BDA0002280492260000089
η thereinsThe conditions given are:ξs，γ，γs，βs，kτand deltakAre all positive numbers.
④ trajectory tracking performance analysis:
selecting a Lyapunov function as:
Figure BDA00022804922600000811
the derivation of (22) and the substitution of (17) - (21) can be obtained as follows:
Figure BDA00022804922600000812
wherein:
Figure BDA00022804922600000813
integrating (23) to obtain the approach time T of the sliding mode surfacecComprises the following steps:
Figure BDA00022804922600000814
when the sliding form face is reached, the following conditions can be obtained:
define the lyapuloff function as:
Figure BDA00022804922600000815
is easily obtainedAnd the tracking error can be converged to zero, and the certification is finished.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.

Claims (6)

1. A four-drive electric vehicle fault-tolerant control method is characterized by comprising a four-drive electric vehicle subjected to actuator faults and external disturbance, a composite observer, a self-adaptive sliding mode controller, an event trigger mechanism and a controller based on event trigger;
(1) designing a composite observer based on a system model of the four-wheel drive electric vehicle subjected to actuator faults and external disturbance, wherein the output of the observer is electric vehicle system state estimation, actuator fault estimation and interference estimation;
(2) the self-adaptive sliding mode controller combines the output value of the composite observer and system reference information;
(3) the event triggering mechanism is a channel from the sensor to the controller, and utilizes observation information and controller output;
(4) an event-triggered based controller incorporates an event-triggered mechanism, the output of which acts on the actuators of a four-wheel drive electric vehicle.
2. The four-wheel drive electric machine according to claim 1The automobile fault-tolerant control method is characterized in that the total disturbance omega (t) of the system is always bounded due to the fact that the external disturbance of the actual system is always bounded, and the following condition is assumed to be met, | | omega (t) | | ≦ dkAnd an
Figure FDA0002280492250000011
Wherein d iskAnd d andcare two known constants.
3. The fault-tolerant control method for the four-wheel-drive electric vehicle according to claim 1, wherein the designed composite observer comprises a state observer, a failure factor detector for failure observation and a disturbance observer, and an observation error compensation term δ is introduceds(t), the results are as follows:
wherein the content of the first and second substances,
Figure FDA0002280492250000013
and
Figure FDA0002280492250000014
respectively represent the sum of the values of the pairs x (t),
Figure FDA0002280492250000015
ω (t), y (t) and
Figure FDA0002280492250000016
is estimated by the sum of (a), (b), (c), (d), (,
Figure FDA0002280492250000017
ω (t), y (t) and
Figure FDA0002280492250000018
and the system state, the system function, the total interference, the output and the actuator failure factor of the electric vehicle are represented.
Figure FDA0002280492250000019
Bm(theta) represents an electric vehicle system function, vmRepresenting the control gain without failure;
Figure FDA00022804922500000110
wherein
Figure FDA00022804922500000111
εjAnd pijIs z-1And
Figure FDA00022804922500000112
the jth element, z and zmFor two diagonal moments, Q positive definite symmetry matrix, L, H and H1A matrix of the observer gains is represented,
Figure FDA00022804922500000114
the design is as follows:
Figure FDA00022804922500000115
Figure FDA00022804922500000116
wherein the content of the first and second substances,
Figure FDA0002280492250000021
Figure FDA0002280492250000022
is a constant number of times, and is,
Figure FDA0002280492250000023
to represent
Figure FDA0002280492250000024
Is estimated by the estimation of (a) a,is the first order filtered output of the observer.
4. The fault-tolerant control method for the four-wheel drive electric vehicle according to claim 1, wherein the adaptive sliding mode controller comprises:
Figure FDA0002280492250000026
wherein e isrWhich is indicative of a tracking error,
Figure FDA0002280492250000027
β2(er)＝λ2/(1+λ2exp(-τ|eri))) where τ > 0 and λ1＞1，0＜λ2＜1。1＜α1Q/p < 2, p and q being two odd numbers α2＞α1。
5. The fault-tolerant control method for the four-wheel-drive electric vehicle according to claim 1, wherein the designed event trigger mechanism is a channel from a controller to an actuator, and the designed trigger conditions are as follows:wherein the content of the first and second substances,
Figure FDA0002280492250000029
Ψ is a matrix. Kappa1、κ2、μ1And mu2Are all positive numbers.
6. The fault-tolerant control method for the four-wheel drive electric vehicle according to claim 1, wherein the controller based on the event trigger is：u(tm)＝u1(tm)+u2(tm) Wherein, in the step (A),
Figure FDA00022804922500000211
wherein s is represented by
Figure FDA00022804922500000212
CN201911139391.4A 2019-11-20 2019-11-20 Fault-tolerant control method for four-wheel drive electric vehicle Pending CN110789350A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911139391.4A CN110789350A (en) 2019-11-20 2019-11-20 Fault-tolerant control method for four-wheel drive electric vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911139391.4A CN110789350A (en) 2019-11-20 2019-11-20 Fault-tolerant control method for four-wheel drive electric vehicle

Publications (1)

Publication Number Publication Date
CN110789350A true CN110789350A (en) 2020-02-14

Family

ID=69445532

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911139391.4A Pending CN110789350A (en) 2019-11-20 2019-11-20 Fault-tolerant control method for four-wheel drive electric vehicle

Country Status (1)

Country Link
CN (1) CN110789350A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111505500A (en) * 2020-04-09 2020-08-07 江南大学 Intelligent motor fault detection method based on filtering in industrial field
CN113002527A (en) * 2021-03-01 2021-06-22 东北大学 Robust fault-tolerant control method for lateral stability of autonomous electric vehicle
CN114253133A (en) * 2021-12-07 2022-03-29 北京科技大学 Sliding mode fault-tolerant control method and device based on dynamic event trigger mechanism
CN114415634A (en) * 2022-01-19 2022-04-29 大连理工大学 Fault estimation method for integral type aircraft engine actuating mechanism
CN114563953A (en) * 2022-01-31 2022-05-31 四川大学 Wheeled robot self-adaptive fault-tolerant reliable control system and method considering multi-factor influence
CN114859847A (en) * 2022-03-11 2022-08-05 四川大学 Reliable optimization control system and method suitable for interconnected nonlinear system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109085757A (en) * 2018-09-19 2018-12-25 南京航空航天大学 For the Active Fault Tolerant forecast Control Algorithm of discrete system multi executors failure of removal
CN109733205A (en) * 2018-12-10 2019-05-10 江苏大学 A kind of wheel hub electric car direct yaw moment control method with fault tolerance
CN110658724A (en) * 2019-11-20 2020-01-07 电子科技大学 Self-adaptive fuzzy fault-tolerant control method for nonlinear system
CN112019107A (en) * 2020-08-07 2020-12-01 华东理工大学 Permanent magnet synchronous motor terminal sliding mode control method based on periodic event triggering

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109085757A (en) * 2018-09-19 2018-12-25 南京航空航天大学 For the Active Fault Tolerant forecast Control Algorithm of discrete system multi executors failure of removal
CN109733205A (en) * 2018-12-10 2019-05-10 江苏大学 A kind of wheel hub electric car direct yaw moment control method with fault tolerance
CN110658724A (en) * 2019-11-20 2020-01-07 电子科技大学 Self-adaptive fuzzy fault-tolerant control method for nonlinear system
CN112019107A (en) * 2020-08-07 2020-12-01 华东理工大学 Permanent magnet synchronous motor terminal sliding mode control method based on periodic event triggering

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111505500A (en) * 2020-04-09 2020-08-07 江南大学 Intelligent motor fault detection method based on filtering in industrial field
CN113002527A (en) * 2021-03-01 2021-06-22 东北大学 Robust fault-tolerant control method for lateral stability of autonomous electric vehicle
CN113002527B (en) * 2021-03-01 2022-09-30 东北大学 Robust fault-tolerant control method for lateral stability of autonomous electric vehicle
CN114253133A (en) * 2021-12-07 2022-03-29 北京科技大学 Sliding mode fault-tolerant control method and device based on dynamic event trigger mechanism
CN114253133B (en) * 2021-12-07 2023-09-01 北京科技大学 Sliding mode fault tolerance control method and device based on dynamic event trigger mechanism
CN114415634A (en) * 2022-01-19 2022-04-29 大连理工大学 Fault estimation method for integral type aircraft engine actuating mechanism
CN114563953A (en) * 2022-01-31 2022-05-31 四川大学 Wheeled robot self-adaptive fault-tolerant reliable control system and method considering multi-factor influence
CN114859847A (en) * 2022-03-11 2022-08-05 四川大学 Reliable optimization control system and method suitable for interconnected nonlinear system

Similar Documents

Publication Publication Date Title
CN110789350A (en) Fault-tolerant control method for four-wheel drive electric vehicle
CN109733205A (en) A kind of wheel hub electric car direct yaw moment control method with fault tolerance
Wang et al. Coordinated vehicle dynamics control with control distribution
US6766230B1 (en) Model-based fault detection and isolation system and method
CN105667577B (en) Wire-controlled steering system and control method with sensor signal fault tolerance
DE102012221837B4 (en) Vibration dampening control method and drive train device by controlling engine torque from an electric vehicle
CN102167039B (en) Unpiloted independently-driven and steered vehicle dynamics control quantity obtaining method
Li et al. Design of a vehicle lateral stability control system via a fuzzy logic control approach
CN107139775A (en) A kind of electric car direct yaw moment control method based on Non-smooth surface technology
CN109733464B (en) Active fault tolerance and fault relief system based on steer-by-wire double motors and control method thereof
CN110568762A (en) intelligent electric vehicle formation adaptive robust control method capable of resisting communication delay
CN109375510B (en) Self-adaptive sliding mode fault-tolerant control method for high-speed train
CN110481334A (en) Four motorized wheels electric car robust adaptive fault tolerant control method based on disturbance observation
Shyrokau et al. Vehicle dynamics control with energy recuperation based on control allocation for independent wheel motors and brake system
CN107179686A (en) A kind of distributed-driving electric automobile lateral stability high-order variable structure control method based on gray prediction
CN111746304B (en) Distributed driving electric vehicle driving system control method based on failure state
Spooner et al. Fault-tolerant control for automated highway systems
CN111665726A (en) ASR self-adaptive nonsingular terminal sliding mode control method based on multiple intelligent agents
CN110126816B (en) Fault-tolerant control method of automobile active front wheel steering system
CN110641475B (en) Hierarchical fault-tolerant control method for four-wheel independent drive electric vehicle based on cooperative game
CN102336189A (en) Decoupling control method applied to automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system
CN113110042B (en) Train fault tolerance control method
Wong et al. A novel event-triggered torque vectoring control for improving lateral stability and communication resource consumption of electric vehicles
CN116595783A (en) High-speed train dynamic system fault detection method based on interval observer
CN113147763B (en) Fault-tolerant control method for safety of expected function of cooperative adaptive cruise control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20200214