Reconfigurable fault-tolerant controller synthesis for a steer-by-wire vehicle using independently driven wheels
Reconfigurable fault-tolerant controller synthesis for a steer-by-wire vehicle using independently driven wheels
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DOI：
10.1080/00423114.2013.806671
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发表时间：
2013-07
影响因子：
3.6
通讯作者：
N. Wada;K. Fujii;M. Saeki
中科院分区：
文献类型：
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作者：
N. Wada;K. Fujii;M. Saeki
本文提出了一种用于线控转向车辆的可重构容错控制系统的综合方法。本文考虑的车辆还假设具有独立驱动轮。这项工作的控制目标是即使在转向执行器发生故障时也能使车辆横摆角速度跟踪参考信号。由于车辆横摆率可以通过前轮转角或独立驱动轮产生的横摆力矩来控制，因此该系统具有执行器冗余。我们尝试设计一种控制系统来管理执行器冗余，从而最大限度地减少执行器故障导致的性能下降。我们利用基于在线优化的控制分配器来管理执行器冗余。带有控制分配器的容错控制系统具有几个优异的特性。例如，该方法可以处理各种故障情况。此外，由于控制分配问题被简化为凸二次规划问题，因此在线计算量相对较小。然而，迄今为止，当执行器发生故障时，是否能够保证具有控制分配器的控制系统的稳定性尚不清楚。因此，我们提出了一种基于在线优化的容错控制器的设计方法，保证了整个系统的稳定性。通过数值例子证明了该方法的有效性。
In this paper, a synthesis method for a reconfigurable fault-tolerant control system for use in a steer-by-wire vehicle is proposed. The vehicle considered in this paper is also assumed to have independently driven wheels. The control objective in this work is to enable the vehicle yaw rate to track the reference signal even when the steering actuator breaks down. Since the vehicle yaw rate can be controlled with either the front wheel turn angle or the yaw moment generated by the independently driven wheels, this system has actuator redundancy. We attempt to design a control system that manages this actuator redundancy so that the performance degradation due to the actuator failure is minimised. We utilise a control allocator based on on-line optimisation for managing the actuator redundancy. The fault-tolerant control system with a control allocator has several excellent properties. For example, the method can handle various failure situations. Also, since the control allocation problem is reduced to a convex quadratic programming problem, the on-line computational effort is relatively little. However, so far, it has been unclear whether the stability of the control system with the control allocator is guaranteed when the actuator failure occurs. Therefore, we propose a design method of a fault-tolerant controller based on on-line optimisation that guarantees the stability of the overall system. The effectiveness of the method is established through numerical examples.