线控转向系统的多重故障检测和容错控制

Steer-by-Wire (SbW) is considered as the most significant innovation among X-by-Wire technology that will revolutionize the automotive industry. The SbW can improve vehicle safety, enhance the vehicle maneuverability, boast higher efficiency, and work in tandem with the driver-assist steering system. Among many problems that should be resolved before the commercialization of SbW systems, maintaining reliability and fault-tolerance in such systems are the most pressing issues. We design an observer to estimate both the fault information and the faulty SbW system statues. The gains of the observer are obtained by solving a linear matrix inequality derived from the Lyapunov theory. In addition, the minimax MPC and feedback action make the proposed control scheme robust to system uncertainties, disturbance, and estimation errors and tolerant to various types of actuator faults during steering. A series of simulation and experiments will be conducted to demonstrate the effectiveness of the proposed fault tolerant control algorithms.

线控转向（SbW）被认为是线控技术中最具创新的技术，并能彻底地改变汽车行业的发展。线控转向系统无需传统转向技术中必需的庞大转向柱，因而能降低成本、提高转向精度，并给灵活设计带来更多可能性。然而安全性和可靠性是线控技术发展缓慢的主要原因。本项目针对线控转向系统的执行器故障，设计基于模型的多重故障观测器，可以快速地检测出故障并准确地估计出故障的类型和大小，并利用LMI求解得到观测器增益值。另外，根据滚动优化思想，提出鲁棒预测控制算法降低系统对模型不确定性、外界干扰的敏感度，同时可以对执行器故障进行补偿并实现良好的转向性能。最后，利用仿真和实验平台对所设计的故障检测器和容错算法进行验证。

线控转向（SbW）被认为是下一代转向系统，对车辆的稳定性和安全性有很大影响。本项目以车辆线控转向系统为背景，结合稳定性理论和容错控制理论，围绕“线控转向系统的多重故障监测和容错控制”这一核心问题展开研究。揭示了转向系统的动态特性以及在故障发生时系统状态变化特性，并给出系统渐进稳定的充分条件，避免在发生故障时，系统发生失稳情况。同时针对故障机理的不同，提出了基于系统模型的故障观测器，确保快速准确地获取故障信息，并进一步结合控制对象，设计容错控制律，确保系统可以安全稳定运行，并在试验测试平台上验证上述理论与技术，以推动所研究的理论与技术的应用。