基于观测器的车辆电子稳定控制系统执行器故障重构

doi:10.12068/j.issn.1005-3026.2022.03.002

东北大学学报（自然科学版） ›› 2022, Vol. 43 ›› Issue (3): 313-320.DOI: 10.12068/j.issn.1005-3026.2022.03.002

基于观测器的车辆电子稳定控制系统执行器故障重构

王宏伟，王倩玉，韩杰，张昊天

(东北大学秦皇岛分校控制工程学院，河北秦皇岛066004)

修回日期:2021-04-17 接受日期:2021-04-17 发布日期:2022-05-18
通讯作者: 王宏伟
作者简介:王宏伟(1983-)，女，辽宁铁岭人，东北大学副教授.
基金资助:
国家自然科学基金资助项目(61903072)；中央高校基本科研业务费专项资金资助项目(N2023018)；河北省高等学校科学研究项目(QN2019317).

Actuator Fault Reconstruction of Vehicle Electronic Stability Control System Based on Observer

WANG Hong-wei， WANG Qian-yu， HAN Jie， ZHANG Hao-tian

School of Control Engineering， Northeastern University at Qinhuangdao， Qinhuangdao 066004， China.

Revised:2021-04-17 Accepted:2021-04-17 Published:2022-05-18
Contact: WANG Hong-wei
About author:-
Supported by:
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摘要/Abstract

摘要： 为提高执行器故障时车辆在复杂工况下运行的稳定性，针对不确定车辆电子稳定控制系统设计基于观测器的故障重构策略.考虑系统中的不确定因素，建立双输入双输出四轮转向系统车辆数学模型.构造増广系统，利用李雅普诺夫函数和线性矩阵不等式技术获得观测器增益矩阵.通过MATLAB/Simulink和Carsim联合仿真验证该方法的有效性.结果表明:在故障发生时，观测器的状态估计值与真实值之间存在一定偏差，但很快能够跟踪上车辆的实际运行状态，实现故障诊断的目的.与前轮转向系统相比，四轮转向系统能够显著增强高速运行时车辆的稳定性和安全性.

关键词: 电子稳定控制系统;双输入双输出;执行器故障;观测器;联合仿真

Abstract: In order to improve the stability of vehicles under complex operating conditions when the actuator fails， a fault reconstruction strategy based on observer was designed for the electronic stability control system of uncertain vehicles.Considering the uncertain factors in the four-wheel steering system， a dual-input and dual-output mathematical model was established.An augmented system is constructed and the observer gain matrix is obtained by Lyapunov function and linear matrix inequality techniques. The effectiveness of the proposed method is verified by MATLAB/Simulink and Carsim joint simulation. The results indicate that there is some certain deviation between the observer state estimated value and the real value when the fault occurs. However，the estimated value can quickly track the real value to realize fault diagnosis. Compared with the front-wheel steering system， the four-wheel steering system can significantly enhance the stability and safety of the vehicle at high speed.

Key words: electronic stability control(ESC) system; dual-input and dual-output; actuator fault; observer; joint simulation

中图分类号:

TP273

王宏伟，王倩玉，韩杰，张昊天. 基于观测器的车辆电子稳定控制系统执行器故障重构[J]. 东北大学学报（自然科学版）, 2022, 43(3): 313-320.

WANG Hong-wei， WANG Qian-yu， HAN Jie， ZHANG Hao-tian. Actuator Fault Reconstruction of Vehicle Electronic Stability Control System Based on Observer[J]. Journal of Northeastern University(Natural Science), 2022, 43(3): 313-320.

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基于观测器的车辆电子稳定控制系统执行器故障重构

Actuator Fault Reconstruction of Vehicle Electronic Stability Control System Based on Observer

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