摘要
针对线控转向汽车容错控制研究的需要,建立了线控转向系统的直流电机模型。根据电机模型,用最小二乘法离线辨识相应的参数值,再以自适应渐消卡尔曼滤波技术为基础,在线估计相应参数,通过二者的残差,实现电机的故障诊断与容错控制。并在以上的研究基础上,对提出的故障诊断与容错控制方法进行了实车试验验证,结果表明:该方法可应用于线控转向汽车直流电机的故障诊断与容错控制,能有效保证线控转向汽车的安全性与可靠性。
Addressing the need for fault tolerance control of steer-by-wire car, a DC motor model of steer by-wire system is built in this paper. Relevant parameters of motor are identified off line by using Least Squares Method, combining with the DC motor model. And the parameters are estimated on-line, based on Adaptive Fading Kalman Filter technology. Fault diagnosis and fault tolerant control of the DC motor can be evaluated based on the comparison result of the on-line estimation with the off-line one. And the fault diagnosis and fault tolerant control method is verified by vehicle test. The result shows that this method is effective to fault diagnosis and fault tolerant control of the DC motor, and improve effectively reliability and security of steer-by-wire system.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2011年第3期608-612,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(50775096)
关键词
车辆工程
线控转向
直流电机
容错控制
自适应渐消卡尔曼滤波
vehicle engineering
steer by wire （SBW）
DC motor
fault tolerant
adaptive fading Kalman filter （AFKF）
