The invention provides an active fault-tolerant control method and system for steer-by-wire of a heavy-duty vehicle, designs a rolling time domain estimator aiming at execution performance limitation of a steer-by-wire system of an automatic driving heavy-duty vehicle, can explicitly process system constraints, avoids adverse effects caused by oscillation and overshoot in an estimation convergence process, and improves the control accuracy of the steer-by-wire of the heavy-duty vehicle. The smoothness of an estimated curve and the optimality of an estimated value are ensured; meanwhile, the invention further provides an active compensation fault-tolerant control framework, a comprehensive control law can be generated through steering execution performance limit estimation in a fixed time domain, compensation and suppression of performance limit and model mismatch are achieved, and the method has the advantages of being low in conservative degree and high in robustness.
本发明提供了一种重载车辆线控转向主动容错控制方法及系统,设计了针对自动驾驶重载车辆线控转向系统执行性能限制的滚动时域估计器,能够显式地处理系统约束,避免估计收敛过程震荡、超调带来的不利影响,保证估计曲线平滑性和估计值最优性;同时,还提供了一种主动补偿的容错控制框架,能够利用固定时域内的转向执行性能限制估计产生综合控制律,实现对性能限制和模型失配的补偿与抑制,具备低保守度和强鲁棒性特点。
Active fault-tolerant control method and system for steer-by-wire of heavy-duty vehicle
一种重载车辆线控转向主动容错控制方法与系统
2025-06-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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