| 摘要: |
| 针对转向系统失效的情况，基于执行器扭矩重新分配，提出了一种容错控制策略；根据所需车辆运动，建立双点预瞄模型，推导出期望的方向盘转角；利用二自由度汽车模型，进一步得到目标横摆角速度以及目标车身侧偏角，利用滑模控制得到所需的横摆力矩，通过扭矩分配策略实现容错控制；通过控制各个车轮执行器的输出扭矩，使汽车沿规划路径行驶；通过仿真实验，汽车的横摆角速度与期望的横摆角速度吻合度极高，提出的算法可以有效地应对线控转向汽车的转向故障，验证了针对转向失效的容错控制的有效性，有一定的工程实用性。 |
| 关键词: 双点预瞄 容错控制 转向失效 扭矩分配 |
| DOI： |
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| Research on Fault-tolerant Control of Steer-by-wire System |
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ZENG Gui-ling，WANG Ping，MA Shu-xiang
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| Abstract: |
| Aiming at the failure of steering system, a fault-tolerant control strategy based on torque allocation is proposed. A two-point preview model is established to derive the desired steering wheel angle according to the required vehicle motion. Using the two-degree-of-freedom vehicle model, the yaw angular velocity and the sideslip angle of the target body are further obtained. The yaw moment is obtained by sliding mode control, and the fault-tolerant control is realized by the torque allocation strategy. In order to verify the proposed fault-tolerant control strategy, simulation results show that car’s angular velocity is very consistent with the desired yaw angular velocity, that the proposed algorithm can effectively deal with steering faults of steering-by-wire vehicle,and that it has a certain engineering practicability. |
| Key words: two-point preview fault-tolerant control steering failure torque distribution |
