H∞ Robust Fault-tolerant Control for Lateral Stability of Four-wheel Independent Driving Electric Vehicles
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摘要: 为解决参数不确定性四轮独立驱动电动汽车发生执行器及传感器故障时车辆侧向稳定性控制问题, 提出一种H∞鲁棒容错控制方法。运用故障矩阵函数引入车辆连续性故障, 建立了考虑执行器及传感器故障的二自由度车辆参数不确定性动力学模型。运用线性矩阵不等式求解方法设计车辆侧向稳定性H∞鲁棒容错控制器, 保证车辆动力学系统渐近稳定性及抗干扰能力, 实现控制系统H∞鲁棒性能满足给定的干扰衰减指标。搭建CarSim与MATLAB/ Simulink联合仿真实验平台, 验证控制器的有效性。仿真实验表明, 所设计H∞鲁棒容错控制器能有效提升了车辆的侧向稳定性及安全性, 对车辆故障具有良好的容错控制能力。Abstract: In order to solve the problem of lateral stability control when actuator and sensor faults occur in four-wheel independent driving electric vehicles with parameter uncertainty, an H∞ robust fault-tolerant control method is proposed. A two degree of freedom vehicle dynamic model with parameter uncertainty considering actuator and sensor faults is established by introducing vehicle continuous fault with fault matrix function. The linear matrix inequality method is used to design the lateral stability H∞ robust fault-tolerant controller of vehicle to ensure the asymptotic stability and anti-interference ability of the vehicle dynamics system, and realize that the H∞ robust performance of the control system meets the given interference attenuation target. A joint simulation experiment platform of CarSim and MATLAB/Simulink is built to verify the effectiveness of the controller. Simulation results show that the designed H∞ robust fault-tolerant controller can effectively improve the lateral stability and safety of vehicles, and has good fault-tolerant control ability for vehicle faults.
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表 1 整车关键参数
参数 数值 整车质量/kg 1 250 整车质心高度/m 0.6 质心至前轴距离/m 1.1 质心至前轴距离/m 1.62 整车绕z轴的转动惯量/(kg·m2) 1 410.2 前后轴距/m 2.6 前轮轮距/m 1.7 后轮轮距/m 1.7 车轮有效滚动半径/m 0.298 车轮转动惯量/(kg·m2) 1.3 
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