多智能体线控转向系统分层容错控制方法研究

Research on the fault tolerant control method with high reliability is of great theoretical and practical significance for X-by-wire system, because the biggest barrier for the application of X-by-wire system is the low security of the electronic control system. The early study showed that the reliability of integrated fault tolerant control method was not satisfied and the distributed fault tolerant coordination control was complex, whereupon the multi-agent stratified fault tolerant control method for X-by-wire system was proposed. This project intends to apply multi-agent principle, regard the system components as smart-nodes and classify them according to their function to build a multi-agent X-by-wire system combined with FlexRay bus. Layering the system smart-nodes according the priority of control logic and studying fault tolerant control method in each layer could save the fault location time and simplify the system complexity. Research includes: fault tolerant control mechanism of communication network with smart nodes; fault tolerant control method of smart nodes each layer; the information fusion and fault decision method of smart-nodes in the same layer; the fault tolerant control method of smart-nodes in different layer. Combining theory and experiment, the research could clarify the principle of the multi-agent fault tolerant control method for X-by-wire system, build complete fault tolerant control methods and provide theoretical foundation and practical basis for the fault tolerant control of four-wheel-independent electric vehicle with X-by-wire system.

线控系统的电子化导致其安全性降低,这是阻碍线控系统实际应用的最大问题,高可靠性的容错控制方法研究对线控系统走向实用具有重大理论与实际意义。经前期研究发现,线控系统集成式容错控制可靠性不高,分布式协调控制复杂,据此提出多智能体线控系统分层研究容错控制方法的思路。本项目拟运用多智能体原理,将系统组成部件按功能设计为智能节点,结合车载FlexRay总线,建立多智能体线控转向系统。将系统智能节点按控制逻辑优先级分层,以层为单位研究层内与层间容错控制方法,节省故障定位时间,简化系统控制复杂度,研究包括 :智能节点通信网络的容错控制机理;各层智能节点自身的容错控制方法;同层内智能节点间的信息融合与故障决策方法;不同层间智能节点的协调容错控制方法。本研究的科学意义在于通过理论与试验相结合的方法,阐明多智能体线控转向系统的容错控制原理,构建完整的容错控制方法,为全线控系统的容错控制提供理论基础与实践依据。

线控系统的电子化导致其安全性降低,阻碍了线控系统的实际应用,研究高可靠性的容错控制方法研究对线控系统走向实用具有重大理论与实际意义。经前期研究发现,线控系统集成式容错控制可靠性不高,分布式协调控制复杂,据此提出了多智能体线控系统分层研究容错控制方法。运用多智能体原理,将系统组成部件按功能设计为智能节点,结合车载FlexRay总线,建立多智能体线控转向系统。将系统智能节点按控制逻辑优先级分层,以层为单位研究层内与层间容错控制方法,节省故障定位时间,简化系统控制复杂度。项目完成了智能节点通信网络Flexray总线的容错控制机理研究，提出了总线应用层设计方法，完善了各层智能节点自身的容错控制方法，特别是转向执行双电机的容错控制方法，提出了同层内智能节点间的信息融合与故障决策方法以及不同层间智能节点的协调容错控制方法。通过理论与试验相结合的方式,阐明多智能体线控转向系统的容错控制原理,构建完整的容错控制方法,为全线控系统的容错控制提供理论基础与实践依据。