CN110789350A - Fault-tolerant control method for four-wheel drive electric vehicle - Google Patents
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- 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
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- 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
- B60W30/02—Control of vehicle driving stability
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- 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
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- 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
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- 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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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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
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 anWherein 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:
wherein the content of the first and second substances,andrespectively represent the sum of the values of the pairs x (t),ω (t), y (t) andis estimated by the sum of (a), (b), (c), (d), (,ω 9t), y (t) andindicating 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.
WhereinεjAnd pijIs z-1Andthe 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, the design is as follows:
wherein the content of the first and second substances, is a constant number of times, and is,to representIs estimated by the estimation of (a) a,is the first order filtered output of the observer.
The self-adaptive sliding mode controller comprises:
wherein e isrWhich is indicative of a tracking error,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:wherein the content of the first and second substances,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),
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:
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.Indicating an external disturbance.
The wheel model is considered as: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:
wherein the content of the first and second substances,a failure factor is indicated for a fault,εi∈{0,1},vsi(t) indicates an actuator paranoia fault. Suppose thatWherein
Consider the tire force equation as:
The electric vehicle state space with faults and disturbances can be written as:
vs(t)=diag{vsi(t)},i={ql,qr,hl,hr}.
Sensor-to-controller channel trigger mechanism design:
wherein the content of the first and second substances,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:
whereinεjAnd pijIs z-1Andthe jth element, z and zmFor the two diagonal moments, Q positively defines a symmetric matrix. L, H and H1Representing the observer gain matrix.
From the above formula, one can obtain:
and (3) proving that: the systematic observation error can approach zero when the following condition (14) is satisfied.
Wherein the content of the first and second substances,andtwo non-negative matrices, η1Andtwo positive numbers.
The Lyapuloff function is chosen as:
derivatives of the above formula are available to persons (6) - (14):
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:
wherein 1 is less than α1Q/p < 2, p and q being two odd numbers α2>α1. Two adaptive parameters are respectively expressed asβ2(er)=λ2/(1+λ2exp(-τ|erI))) where τ > 0 and λ1>1,0<λ2<1。
② controller-to-actuator trigger design:
wherein the content of the first and second substances,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:
η thereinsThe conditions given are:ξs,γ,γs,βs,kτand deltakAre all positive numbers.
④ trajectory tracking performance analysis:
selecting a Lyapunov function as:
the derivation of (22) and the substitution of (17) - (21) can be obtained as follows:
integrating (23) to obtain the approach time T of the sliding mode surfacecComprises the following steps:
when the sliding form face is reached, the following conditions can be obtained:
define the lyapuloff function as: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 anWherein 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,andrespectively represent the sum of the values of the pairs x (t),ω (t), y (t) andis estimated by the sum of (a), (b), (c), (d), (,ω (t), y (t) andand the system state, the system function, the total interference, the output and the actuator failure factor of the electric vehicle are represented.Bm(theta) represents an electric vehicle system function, vmRepresenting the control gain without failure;
whereinεjAnd pijIs z-1Andthe jth element, z and zmFor two diagonal moments, Q positive definite symmetry matrix, L, H and H1A matrix of the observer gains is represented, the design is as follows:
4. The fault-tolerant control method for the four-wheel drive electric vehicle according to claim 1, wherein the adaptive sliding mode controller comprises:
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,Ψ is a matrix. Kappa1、κ2、μ1And mu2Are all positive numbers.
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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 |
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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 |
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CN111505500A (en) * | 2020-04-09 | 2020-08-07 | 江南大学 | Intelligent motor fault detection method based on filtering in industrial field |
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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 |
CN115782587A (en) * | 2022-11-30 | 2023-03-14 | 南京理工大学 | Active fault-tolerant control method based on single-motor failure lateral dynamics cluster analysis |
CN115782587B (en) * | 2022-11-30 | 2024-06-07 | 南京理工大学 | Active fault-tolerant control method based on single motor failure transverse dynamics cluster analysis |
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Application publication date: 20200214 |