摘要
Autonomous vehicles are prone to instability when the motors of the four-wheel independent-driving electric vehicles fail at high driving speed on low-adhesion roads.To improve the vehicle tracking performance in the expected path and ensure vehicle stability when the motor fails,this paper designs an integrated path-following and passive fault-tolerant controller.The path-following controller is designed to improve the vehicle path-following performance based on model predictive control(MPC),while the passive fault-tolerant controller is used to ensure vehicle stability when the motor fails.First,a vehicle dynamic model is established and simplified,and an MPC controller based on a state-space equation is designed.Then,taking the motor fault as a fault factor,a first-order sliding mode fault-tolerant controller is developed.The first-order sliding mode fault-tolerant controller takes the vehicle’s yaw rate and sideslip angle into account.Furthermore,to address the chattering problem of the traditional first-order sliding mode fault-tolerant controller,a second-order sliding mode fault-tolerant controller with a disturbance observer is developed.Finally,the developed controller is tested using the Simulink/Carsim platform and applied to a Raspberry Pi 4B for controller hardware-in-the-loop experiment.Simulation and experi-ment results show the practicability and effectiveness of the proposed integrated control strategy.
基金
supported by Natural Science Foundation of Guangxi Province,(2020GXNSFAA297031,2021AA04006)
National Natural Science Foundation of China(51605108)
Innovation Project of Guilin University of Electronic Technology(2021YCXS007).
