智能汽车转向轮转角主动控制
Active Steering Angle Control for Intelligent Vehicle
摘要 研究通过对智能汽车转向系统进行主动控制,可靠并准确地得到期望的转向轮转角.为了提高智能汽车转向系统主动控制的可靠性、安全性,借助横摆角速度信号、侧向加速度信号和转向执行电动机电流信号,基于卡尔曼滤波的方法对转向管柱转角传感器进行实时故障诊断和容错设计.根据诊断和容错结果,并考虑执行器力矩受限的情况,基于一种条件积分方法,设计前馈加抗积分饱和的状态反馈控制算法,使转向轮转角渐进稳定到期望的转向轮转角.并且通过建立李雅普诺夫函数,证明控制系统的渐进稳定.通过实车试验证明结合故障诊断和容错设计后控制算法能够有效可靠地实现转向轮转角的精确跟踪控制.
Abstract:
The steering angle of intelligent vehicle is controlled to achieve the desired steering angle reliably and accurately.In order to prevent the steering column angle error and improve the reliability and safety of the active steering control of intelligent vehicle,yaw rate signal,lateral acceleration signal,and steering motor current signal are used for real time fault diagnosis with fault tolerant design based on Kalman filter.According to the result of diagnosis and fault tolerance,a feed-forward and state feedback controller overcoming integral saturation is designed with conditional integrators considering for the constraint of actuators to achieve the desired steering angle of front wheel.And a lyapunov function is built to prove the control system is asymptotically stable.In the end,the algorithms with diagnosis and fault tolerance proposed are verified to achieve the desired steering angle of front wheel effectively and reliably by real vehicle tests.
Author: ZHANG Renxie XIONG Lu YU Zhuoping
作者单位: 同济大学汽车学院 上海201804;同济大学智能型新能源汽车协同创新中心 上海201804
刊 名 机械工程学报 ISTICEIPKU
年,卷(期): 2017, 53(14)
分类号: U46
在线出版日期: 2017年12月14日
基金项目: 国家自然科学基金资助项目