CN114924488A - Distributed finite time self-adaptive fault-tolerant control method and system based on vehicle queue - Google Patents
Distributed finite time self-adaptive fault-tolerant control method and system based on vehicle queue Download PDFInfo
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Abstract
The invention relates to a distributed finite time self-adaptive fault-tolerant control method and a distributed finite time self-adaptive fault-tolerant control system based on a vehicle queue, which comprise the following steps: constructing a longitudinal kinematic equation of the vehicle to obtain a vehicle queue consistency error kinetic equation; designing a sliding mode surface based on vehicle queue consistency errors, and calculating to obtain a sliding mode surface approach law; setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the fault degree of the vehicle on line based on optimal parameter adaptive gain, and obtaining an on-line vehicle fault estimation value according to different fault degrees of the vehicle; and combining the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, thereby realizing fault-tolerant control of the fleet under the fault occurrence condition. The invention realizes the fault-tolerant control of the motorcade by designing the finite time active fault-tolerant control strategy based on the on-line fault estimation.
Description
Technical Field
The invention relates to a distributed finite time self-adaptive fault-tolerant control method and a distributed finite time self-adaptive fault-tolerant control system based on a vehicle queue, and relates to the technical field of motorcade cooperative control.
Background
With the increase of the popularization rate of vehicles, the road traffic condition is rapidly worsened. At present, the traffic environment faces the problems of air pollution, traffic congestion, overlong transit time and the like, and vehicle formation driving is an effective way for relieving traffic pressure, improving traffic efficiency and reducing pollutant emission. The vehicle queue realizes vehicle-vehicle interconnection through vehicle-mounted mobile communication equipment (V2V), and vehicles connected through a network share necessary information such as speed, position and the like, so that the aim of cooperative motion of the vehicles according to a certain preset strategy is fulfilled. In the current research on the driving of the vehicle formation, most of the work assumes that the vehicle runs under a normal working condition, and the problem of how to keep consistent or degraded running of the vehicle formation after a fault is not considered. The vehicle braking process is the most dangerous and failure-prone process.
In the technology for vehicle queue fault-tolerant control, the prior art provides a heterogeneous fleet fault-tolerant control method based on a variable time interval strategy, and a neural network is introduced to fit a vehicle fault function, so that an adaptive sliding mode control law is designed to keep synchronous braking of vehicles. However, according to the technology, a fault function is fitted through a neural network, and since a single-layer network cannot completely fit any nonlinear term, fitting errors must exist, which means that the fault function cannot obtain an accurate value of the fault, and only the fault is processed into a system nonlinear term, and a distributed robust controller is designed to compensate performance degradation caused by the fault. This may cause a failure message to be missing, and the vehicle itself cannot know the severity of the failure at that time.
Thus, fleet braking system failures place higher demands on the design of distributed fault-tolerant controllers. When a vehicle power system breaks down, how to consider a plurality of performance indexes such as fleet state keeping consistency, single-vehicle braking smoothness, fleet fault-tolerant transition time and the like is an urgent problem to be solved.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method, a system, a device, and a medium for vehicle queue-based distributed finite time adaptive fault-tolerant control, which can estimate the degree of a fault in a braking system on line, provide more accurate fault information, achieve state synchronization of a fleet in a finite time under a fault occurrence condition, and achieve a cooperative braking task.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
in a first aspect, the invention provides a distributed finite time adaptive fault-tolerant control method based on a vehicle queue, which comprises the following steps:
constructing a longitudinal kinematic equation of the vehicle to obtain a consistency error dynamic equation of the vehicle queue;
designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors;
setting a self-adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the fault degree of the vehicle on line based on optimal parameter self-adaptive gain, and obtaining an on-line vehicle fault estimation value according to different fault degrees of the vehicle;
and combining the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, thereby realizing fault-tolerant control of the fleet under the fault occurrence condition.
Further, the vehicle longitudinal kinematic equation of the ith vehicle in the fleet cooperative braking is as follows:
in the formula, m i Is the mass of the ith vehicle, v i Is the speed of the i-th vehicle, θ i Indicating the degree of failure, u, of the vehicle braking system i For brake force input of the i-th vehicle, ρ is air density, C A Is the null resistance coefficient, A i Is the frontal area of the vehicle, g is the gravitational acceleration, and f is the rolling damping coefficient.
Further, based on a vehicle longitudinal kinematics equation, introducing a braking safety distance constraint, and obtaining a vehicle queue consistency error kinetic equation according to a workshop communication topological structure, wherein the vehicle queue consistency error kinetic equation comprises the following steps:
in the formula (I), the compound is shown in the specification,
derivative of error indicating position, velocity synchronization,/ ij And b i In connection with fleet communications topologies, when i At 0, indicating complete failure, f (t) is a function of vehicle wind resistance, rolling resistance, and non-linear disturbances of the road surface,
is the derivative of the speed of the jth vehicle, u 0 Is the brake deceleration input of the head car, u i Is the brake deceleration input n of the ith vehicle as the number of vehicles in the queue to follow.
Further, designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors comprises the following steps:
sliding mode surface s based on vehicle queue consistency error:
s＝e i2 +k 1 e i1 +k 2 |e i1 | γ sgn(e i1 )
the approximation rule of the sliding mode surface is as follows:
in the formula, e i1 ，e i2 Respectively representing the vehicle position and speed synchronization errors, k 1 、k 2 、k 3 、k 4 For the adjustable gain of the controller, all real numbers are larger than zero, and alpha and gamma are epsilon [0,1) as power exponent terms.
Further, the queue distributed finite time adaptive fault-tolerant controller is designed as follows:
wherein M is i For a generalized mass parameter of the vehicle, the variable epsilon i To follow the disturbance error of vehicle i, parameters
Is an online adaptive estimation value of the fault actual degree theta.
Further, setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the vehicle fault degree on line based on optimal parameter adaptive gain, and obtaining an online vehicle fault estimation value according to different fault degrees of the vehicle, wherein the method comprises the following steps:
setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface:
in the formula, P and Q are intermediate variables, H is a variable P, Q and a combined error variable of an online estimation value of the fault degree theta, r is an integral variable, and l (t) is a dynamic gain coefficient and is used for adjusting the filtering effect of the variables P and Q, and the lower limit of the value of the variable P and Q is l L With an upper limit of l U Tan h (·) is a hyperbolic tangent function;
an integral quadratic cost function with a discount factor is designed, optimal parameter adaptive gain is obtained by solving the minimum cost function, and the online estimation response performance of the fault degree of the brake system is improved.
Further, designing an integral quadratic cost function with a discount factor, and obtaining an optimal parameter adaptive gain by solving the minimum cost function, wherein the method comprises the following steps:
designing an integral quadratic cost function with a discount factor:
wherein the operator exp (-) is an exponential operator, ν is an integral variable, R 0 Is a quadratic coefficient, the value of which is more than 0,eta is a normalized coefficient and takes on eta 2 ＝1+||P 2 ||；
The optimal parameter adaptive gain is obtained by solving the optimal of the integral quadratic cost function with the discount factor, and the optimal parameter adaptive gain meets the following dynamic equation:
the optimal parameter adaptive gain obtained by minimizing the integral cost function can optimize the fault parameter adaptive law on line and obtain the optimal parameter estimation dynamic response performance.
In a second aspect, the present invention further provides a distributed finite time adaptive fault-tolerant control system based on a vehicle queue, the system including:
the first processing unit is configured to construct a vehicle longitudinal kinematics equation and obtain a vehicle queue consistency error dynamics equation;
the second processing unit is configured to design a sliding mode surface based on the consistency error of the vehicle queue and calculate to obtain a sliding mode surface approach law;
the third processing unit is configured to set an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimate the fault degree of the vehicle on line based on the optimal parameter adaptive gain, and obtain an on-line vehicle fault estimation value according to different fault degrees of the vehicle;
and the fourth processing unit is configured to combine the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, so that fault-tolerant control of a fleet under the fault occurrence condition is realized.
In a third aspect, the present invention provides an electronic device, which includes at least a processor and a memory, where the memory stores a computer program, and the processor executes the computer program to implement any one of the methods.
In a fourth aspect, the invention provides a computer storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a processor to implement the method of any one of the claims.
Due to the adoption of the technical scheme, the invention has the following characteristics:
1. according to the finite time self-adaptive fault-tolerant control method for the vehicle queue under the cooperative braking working condition when the braking system fault occurs, the fleet fault-tolerant control is realized by designing the finite time active fault-tolerant control strategy based on-line fault estimation, the safety of the fleet cooperative braking is improved, the robustness of the vehicle queue to the braking system fault is improved, the information of the accurate value of the system fault degree is provided while the fault-tolerant control is carried out, and the occurrence of the accident is effectively reduced.
2. The method is characterized in that an integral quadratic cost function with a discount factor is used for optimizing a parameter self-adaptive law, the fault degree of a vehicle brake system is estimated on line in the on-line fault parameter self-adaptive law through a longitudinal kinematics equation of the vehicle, the integral quadratic function is an optimized cost function, the minimum value of the integral quadratic function is solved, the optimal parameter self-adaptive gain is obtained, and the self-adaptive response performance is improved.
3. The finite time self-adaptive sliding mode fault-tolerant controller provided by the invention introduces a finite time sliding mode surface, and realizes the state synchronization of a fleet in finite time under the fault occurrence condition based on a consistency error equation, thereby completing the cooperative braking task.
4. The vehicle fault degree is estimated on line through a self-adaptive law, and the synchronization and consistency of a plurality of following vehicles in the vehicle cooperative control process are ensured by combining a distributed finite time sliding mode controller.
In conclusion, the distributed finite time self-adaptive fault-tolerant control can compensate nonlinearity caused by faults in the vehicle queue cooperative braking process, can estimate the fault degree of a braking system on line, and provides more accurate fault information.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like reference numerals refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a distributed finite time adaptive fault-tolerant control method for a vehicle queue according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of vehicle fleet cooperative braking in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The invention provides a distributed finite time self-adaptive fault-tolerant control method, a distributed finite time self-adaptive fault-tolerant control system, distributed finite time self-adaptive fault-tolerant control equipment and a distributed finite time self-adaptive fault-tolerant control medium based on a vehicle queue, wherein the method comprises the following steps: constructing a longitudinal kinematic equation of the vehicle to obtain a vehicle queue consistency error kinetic equation; designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors; setting an adaptive parameter estimation law based on the fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the vehicle fault degree on line based on the optimal parameter adaptive gain, and obtaining an online vehicle fault estimation value according to different fault degrees of the vehicle; and combining the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, thereby realizing fault-tolerant control of the fleet under the fault occurrence condition. Therefore, the invention realizes the fleet fault-tolerant control by designing the finite time active fault-tolerant control strategy based on the online fault estimation.
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, in the distributed finite time adaptive fault-tolerant control method based on the vehicle queue provided in this embodiment, a consistency error equation is constructed by combining a vehicle-to-vehicle state equation and a vehicle-to-vehicle communication topology, an active fault-tolerant controller is designed based on the consistency error equation, and queue cooperative fault-tolerant control is completed, which is specifically implemented by the following steps:
and S1, constructing a longitudinal kinematic equation of the vehicle, and obtaining a vehicle queue consistency error kinetic equation.
S11, constructing a longitudinal kinematic equation of the vehicle
The kinematic equation of the ith vehicle in the fleet cooperative braking can be expressed as:
in the formula, m i Is the mass of the ith vehicle, v i Is the speed of the i-th vehicle, θ i Indicating the degree of failure, u, of the vehicle's braking system i For brake force input of the i-th vehicle, ρ is air density, C A Is the air resistance coefficient, A i Is the frontal area of the vehicle, g is the gravitational acceleration, and f is the rolling damping coefficient.
And S12, introducing a braking safety distance constraint based on a vehicle longitudinal kinematics equation, and obtaining a vehicle queue consistency error kinetic equation according to a vehicle communication topological structure.
Specifically, the vehicle dynamics equation for the ith vehicle may be expressed as:
in the formula, e i1 ，e i2 Respectively representing vehicle position and speed synchronisation errors, Δ P ij For braking safety distance, Δ P, between vehicle i and vehicle j i0 Distance constraint between vehicle i and head car,/ ij And b i Related to the fleet communication topology, v 0 Is the speed of the head car, v j Indicates the speed, x, of the jth vehicle i Indicates the position of the i-th vehicle, x j The position of the jth vehicle is shown, and x is the position of the head vehicle.
And (3) carrying out derivation on the formula, and substituting the longitudinal kinematic equation of the vehicle into the derivation result to obtain a vehicle queue consistency error kinetic equation, wherein the following steps are carried out:
wherein when theta is i At 0, indicating complete failure, f (t) is a function of vehicle wind resistance, rolling resistance and non-linear disturbances of the road surface,
is the derivative of the speed of the jth vehicle, u 0 Is the brake deceleration input of the head car,
the derivative of the position, speed synchronization error is represented and n is the number of vehicles following the queue.
S2, designing a sliding mode surface based on vehicle queue consistency errors and a sliding mode surface approach law
Sliding mode surface s based on vehicle queue consistency error:
s＝e i2 +k 1 e i1 +k 2 |e i1 | γ sgn(e i1 )
the approximation rule of the sliding mode surface is as follows:
in the formula, k 1 、k 2 、k 3 、k 4 And in order to adjust the gain of the controller, the gain is real number larger than zero, and alpha and gamma are epsilon [0,1) which are power exponent terms.
S3, setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the vehicle fault degree on line based on the optimal parameter adaptive gain, and obtaining an online vehicle fault estimation value according to different fault degrees of the vehicle.
S31, based on the fleet cooperative braking consistency error equation, the following parameter adaptive law is designed in the embodiment:
wherein, P and Q are intermediate variables, H is a variable, the P and Q are combined error variables of the online estimation value of the fault degree theta, and gamma is the adaptive gain of the system, the magnitude of the gamma is closely related to the adaptive parameter estimation law performance, and the variable H contains the fault parameter theta estimation error informationThe self-adaptive law designed for the method can ensure that the online estimation value approaches to a true value. Parameter eta 2 ＝1+||P T P|| 2 For regularization coefficient, s is sliding mode control quantity, alpha is an exponential term [0,1 ], and kappa is 1 For the gain factor,/(t) is a forgetting factor function, the parameter l of which U ，l L Upper and lower limits of l (t), respectively, parameters
Is a sensitive factor and represents the sensitivity degree of a forgetting factor function to parameter estimation errors,
is an online estimate, x, of the degree of actuator failure, theta 2 As vehicle speed information, x 2f ，G f ，F f The expression of (c) is:
in the formula, x 2f ，G f ，F f Are respectively x 2 G, variable, parameter k, obtained after filtering of F>0 is an adjustable parameter;
s32, designing an integral quadratic cost function with discount factors, obtaining optimal parameter adaptive gain by solving the minimum cost function, optimizing fault parameter estimation performance, and improving the vehicle fault degree on-line estimation transient response performance.
Specifically, if the vehicle is not malfunctioning, the value of the adaptive parameter θ will remain at 1. When the fault-tolerant controller is designed, in order to ensure that the controller automatically makes adaptive change according to vehicle faults, a parameter adaptive law about fault degrees is designed according to a longitudinal kinematics equation of a single vehicle, and the adaptive law can converge to a parameter true value due to parameter estimation errors introduced by the adaptive law, and true value information of the fault degrees is provided on line. Meanwhile, in order to optimize the response performance of parameter estimation and obtain the optimal adaptive gain, the embodiment designs an integral cost function with a discount factor, which includes but is not limited to a real-time parameter estimation error and a parameter estimation initial error, and by solving the minimum cost function, the dynamic gain of the adaptive law optimal parameter estimation can be obtained, and the transient performance of system parameter estimation is improved.
In order to improve the online estimation response performance of the fault degree theta of the brake system and obtain the optimal parameter adaptive gain, the following integral quadratic cost function with a discount factor is designed in the embodiment:
wherein the operator exp (-) is an exponential operator, ν is an integral variable, R 0 The coefficient is quadratic form coefficient, and the value is larger than that.
By solving the optimization for the integral quadratic cost function with the discount factor, the optimal parameter adaptive gain can be deduced and obtained, which satisfies the following dynamic equation:
the optimal parameter adaptive gain obtained by minimizing the integral cost function can optimize the fault parameter adaptive law on line and obtain the optimal parameter estimation dynamic response performance.
And S4, combining the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, and realizing fault-tolerant control of the vehicle fleet under the fault occurrence condition.
Specifically, according to the above result, the queue distributed finite time adaptive fault-tolerant controller may be designed as follows:
in the formula, k 1 ，k 2 ，k 3 ，k 4 To controlAnd the adjustable gains of the devices are real numbers which are larger than zero. Alpha, gamma epsilon [0,1) is a power exponent term, and a parameter M i Defined as a generalized mass parameter of the vehicle, variable epsilon i To follow the disturbance error of car i.
The fault-tolerant controller is carried in the vehicle-mounted controller of each following vehicle, the fault degree of the fitting vehicle is estimated on line through the self-adaptive law of the parameter theta, and the synchronization performance of the vehicle queue under the fault condition can be guaranteed. As shown in FIG. 2, a typical fleet cooperative control scenario is a braking scenario comprising a head vehicle and N following vehicles, Δ P, based on a vehicle fleet cooperative braking scenario design N,N-1 ，ΔP N-1,N-2 … … shows the brake safety spacing between the two cars being preset. Without loss of generality, the present embodiment employs a time-invariant braking safe distance strategy.
u N ，u N-1 … … indicates the control quantity input for each follower vehicle, i.e. the total braking force demand of each follower vehicle.
S N,N-1 ，S N-1,N-2 … … shows the distance tracking error between two neighboring vehicles.
The fault-tolerant control strategy of the embodiment is used for controlling a fault occurrence scene, so that a fleet can complete a fault-tolerant control task within a limited time, and the vehicle queue can still keep a consistent, stable and rapid state and stop at an expected position in an emergency scene of the fault occurrence.
Example two: correspondingly, the embodiment provides a distributed finite time adaptive fault-tolerant control system based on a vehicle queue. The system provided by this embodiment may implement the vehicle queue-based distributed finite time adaptive fault-tolerant control method of the first embodiment, and the system may be implemented by software, hardware, or a combination of software and hardware. For convenience of description, the present embodiment is described with the functions divided into various units, which are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in one or more pieces. For example, the system may comprise integrated or separate functional modules or functional units to perform the corresponding steps in the methods of an embodiment. Since the system of the present embodiment is basically similar to the method embodiment, the description process of the present embodiment is relatively simple, and reference may be made to part of the description of the first embodiment to related points.
The distributed finite time adaptive fault-tolerant control system based on the vehicle queue provided by the embodiment comprises:
the first processing unit is configured to construct a vehicle longitudinal kinematics equation and obtain a vehicle queue consistency error dynamics equation;
the second processing unit is configured to design a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors;
the third processing unit is configured to set an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimate the fault degree of the vehicle on line based on the optimal parameter adaptive gain, and obtain an on-line vehicle fault estimation value according to different fault degrees of the vehicle;
and the fourth processing unit is configured to combine the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, so that fault-tolerant control of a fleet under the fault occurrence condition is realized.
Further, the vehicle longitudinal kinematic equation of the ith vehicle in the fleet cooperative braking is configured to:
further, based on a longitudinal kinematic equation of the vehicle, introducing a braking safety distance constraint, and according to a workshop communication topological structure, obtaining a vehicle queue consistency error kinetic equation:
further, designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors comprises the following steps:
and (3) a sliding mode surface s based on vehicle queue consistency error:
s＝e i2 +k 1 e i1 +k 2 |e i1 | γ sgn(e i1 )
the approximation rule of the sliding mode surface is as follows:
further, an adaptive parameter estimation law is set based on a fleet cooperative braking consistency error equation and an error sliding mode surface, the vehicle fault degree is estimated on line based on the optimal parameter adaptive gain, an online vehicle fault estimation value is obtained according to different fault degrees of the vehicle, and the method is configured as follows:
setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface:
an integral quadratic cost function with a discount factor is designed, optimal parameter adaptive gain is obtained by solving the minimum cost function, and the online estimation response performance of the fault degree of the brake system is improved.
Further, an integral quadratic cost function with a discount factor is designed, and by solving for the minimum cost function, the optimal parameter adaptive gain is obtained and configured as:
designing an integral quadratic cost function with a discount factor:
the optimal parameter adaptive gain is obtained by solving the optimal of the integral quadratic cost function with the discount factor, and the optimal parameter adaptive gain meets the following dynamic equation:
the optimal parameter adaptive gain obtained by minimizing the integral cost function can optimize the fault parameter adaptive law on line and obtain the optimal parameter estimation dynamic response performance.
Further, the queue distributed finite time adaptive fault tolerant controller is configured to:
example three: the present embodiment provides an electronic device corresponding to the vehicle queue based distributed finite time adaptive fault-tolerant control method provided in the first embodiment, where the electronic device may be an electronic device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, and the like, to execute the method of the first embodiment.
As shown in fig. 3, the electronic device includes a processor, a memory, a communication interface and a bus, and the processor, the memory and the communication interface are connected via the bus to complete communication therebetween. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The memory stores a computer program that can be executed on the processor, and the processor executes the computer program to execute the distributed finite-time adaptive fault-tolerant control method based on the vehicle queue. Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In some implementations, the logic instructions in the memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), an optical disk, and various other media capable of storing program codes.
In other implementations, the processor may be various general-purpose processors such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), and the like, and is not limited herein.
Example four: the vehicle fleet-based distributed finite time adaptive fault-tolerant control method of the present embodiment may be embodied as a computer program product, which may include a computer readable storage medium having computer readable program instructions embodied thereon for executing the vehicle fleet-based distributed finite time adaptive fault-tolerant control method of the present embodiment.
The computer readable storage medium may be a tangible device that retains and stores instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any combination of the foregoing.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In the description herein, references to the description of "one embodiment," "some implementations," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A distributed finite time self-adaptive fault-tolerant control method based on a vehicle queue is characterized by comprising the following steps:
constructing a longitudinal kinematic equation of the vehicle to obtain a consistency error dynamic equation of the vehicle queue;
designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors;
setting an adaptive parameter estimation law based on the fleet cooperative braking consistency error equation and an error sliding mode surface, estimating the vehicle fault degree on line based on the optimal parameter adaptive gain, and obtaining an online vehicle fault estimation value according to different fault degrees of the vehicle;
and combining the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, thereby realizing fault-tolerant control of the fleet under the fault occurrence condition.
2. The vehicle queue-based distributed finite time adaptive fault-tolerant control method according to claim 1, characterized in that the longitudinal kinematic equation of the ith vehicle in the team cooperative braking is as follows:
in the formula, m i Is the mass of the ith vehicle, v i Is the speed of the ith vehicle, θ i Indicating the degree of failure, u, of the vehicle braking system i For brake force input of the i-th vehicle, ρ is air density, C A Is the air resistance coefficient, A i Is the frontal area of the vehicle, g is the gravitational acceleration, and f is the rolling damping coefficient.
3. The vehicle queue distributed finite time adaptive fault-tolerant control method according to claim 2, characterized in that a braking safety distance constraint is introduced based on a vehicle longitudinal kinematics equation, and a vehicle queue consistency error dynamics equation is obtained according to a workshop communication topological structure, comprising:
in the formula (I), the compound is shown in the specification,
derivative of error indicating position, velocity synchronization,/ ij And b i In connection with fleet communication topologies, when i At 0, indicating complete failure, f (t) is a function of vehicle wind resistance, rolling resistance and non-linear disturbances of the road surface,
is the derivative of the speed of the jth vehicle, u 0 Is the brake deceleration input of the head vehicle, u i Is the brake deceleration input n of the ith vehicle as the number of vehicles in the queue to follow.
4. The distributed finite time adaptive fault-tolerant control method based on the vehicle queue according to claim 1, characterized in that designing a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency error comprises:
and (3) a sliding mode surface s based on vehicle queue consistency error:
s＝e i2 +k 1 e i1 +k 2 |e i1 | γ sgn(e i1 )
the sliding mode surface approach law is as follows:
in the formula, e i1 ，e i2 Respectively representing the vehicle position and speed synchronization errors, k 1 、k 2 、k 3 、k 4 For the adjustable gain of the controller, all real numbers are larger than zero, and alpha and gamma are epsilon [0,1) as power exponent terms.
5. The vehicle queue-based distributed finite time adaptive fault-tolerant control method according to claim 4, characterized in that the queue distributed finite time adaptive fault-tolerant controller is designed as:
wherein, M i For a generalized mass parameter of the vehicle, the variable epsilon i To follow the disturbance error of vehicle i, parameters
Is an online adaptive estimation value of the fault actual degree theta.
6. The distributed finite time adaptive fault-tolerant control method based on the vehicle queue according to claim 5, characterized in that an adaptive parameter estimation law is set based on a fleet cooperative braking consistency error equation and an error sliding mode surface, the vehicle fault degree is estimated on line based on an optimal parameter adaptive gain, and an on-line vehicle fault estimation value is obtained according to different fault degrees of the vehicle, comprising:
setting an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface:
in the formula, P and Q are intermediate variables, H is a variable, and P and Q are combined error variables of the online estimation value of the fault degree theta; r is an integral variable, l (t) is a dynamic gain coefficient with a lower limit of l L With an upper limit of l U ；
An integral quadratic cost function with a discount factor is designed, optimal parameter adaptive gain is obtained by solving the minimum cost function, and the online estimation response performance of the fault degree of the brake system is improved.
7. The vehicle queue-based distributed finite time adaptive fault-tolerant control method according to claim 6, wherein an integral quadratic cost function with a discount factor is designed, and optimal parameter adaptive gain is obtained by solving the minimum cost function, and the method comprises the following steps:
designing an integral quadratic cost function with a discount factor:
in the formula, an operator exp (·) is an exponential operator, ν is an integral variable, R 0 The quadratic form coefficient is greater than 0;
the optimal parameter adaptive gain is obtained by solving the optimal of the integral quadratic cost function with the discount factor, and the optimal parameter adaptive gain meets the following dynamic equation:
the optimal parameter adaptive gain obtained by minimizing the integral cost function can optimize the fault parameter adaptive law on line and obtain the optimal parameter estimation dynamic response performance.
8. A distributed finite time adaptive fault-tolerant control system based on a vehicle queue is characterized by comprising:
the first processing unit is configured to construct a vehicle longitudinal kinematics equation and obtain a vehicle queue consistency error dynamics equation;
the second processing unit is configured to design a sliding mode surface and a sliding mode surface approach law based on vehicle queue consistency errors;
the third processing unit is configured to set an adaptive parameter estimation law based on a fleet cooperative braking consistency error equation and an error sliding mode surface, estimate the fault degree of the vehicle on line based on the optimal parameter adaptive gain, and obtain an on-line vehicle fault estimation value according to different fault degrees of the vehicle;
and the fourth processing unit is configured to combine the sliding mode surface approach law, the vehicle queue consistency error kinetic equation and the online vehicle fault estimation value to obtain a queue distributed finite time self-adaptive fault-tolerant controller, so that fault-tolerant control of a fleet under the fault occurrence condition is realized.
9. An electronic device comprising at least a processor and a memory, the memory having stored thereon a computer program, characterized in that the processor, when executing the computer program, executes to carry out the method of any one of claims 1 to 7.
10. A computer storage medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115798186A (en) * | 2022-11-01 | 2023-03-14 | 清华大学 | Expressway-oriented expandable vehicle queue behavior management framework |
| CN116243610A (en) * | 2023-05-12 | 2023-06-09 | 青岛大学 | Data-driven vehicle queue fault-tolerant tracking control tracking method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115798186A (en) * | 2022-11-01 | 2023-03-14 | 清华大学 | Expressway-oriented expandable vehicle queue behavior management framework |
| CN115798186B (en) * | 2022-11-01 | 2024-04-19 | 清华大学 | Expandable vehicle queue behavior management system for expressway |
| CN116243610A (en) * | 2023-05-12 | 2023-06-09 | 青岛大学 | Data-driven vehicle queue fault-tolerant tracking control tracking method and system |
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