Lunar rover coordinated drive self-adaption fault-tolerant control method based on hierarchical fuzzy system

A fault-tolerant control and fuzzy system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of reducing real-time control, difficult engineering, dimension disaster, etc.

Active Publication Date: 2014-01-01
HEBEI NORMAL UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

Since the driving control system of the lunar exploration vehicle has multiple input variables, it is well known that when dealing with systems with multiple input variables, there is a general difficulty in using fuzzy control: the number of rule

Method used

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  • Lunar rover coordinated drive self-adaption fault-tolerant control method based on hierarchical fuzzy system
  • Lunar rover coordinated drive self-adaption fault-tolerant control method based on hierarchical fuzzy system
  • Lunar rover coordinated drive self-adaption fault-tolerant control method based on hierarchical fuzzy system

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Embodiment

[0056] The specific implementation steps of the self-adaptive fault-tolerant control method for the coordinated drive of the lunar exploration vehicle based on the layered fuzzy system:

[0057] In the first step, the wheel slip rate is given expectations , due to the symmetry of the vehicle body structure, only half of the vehicle model needs to be considered, namely situation. In the example, take , the desired output .

[0058] In the second step, according to the given wheel slip rate The expected value of , bounded in the dynamic process range of change. In the example, The range of change takes .

[0059] In the third step, according to the variation range of known parameters and unknown parameters, the unknown function in the dynamic equation of the drive system of the lunar exploration vehicle when driving on soft soil is given Boundary function and the unknown control gain The upper bound function of and the lower bound function ;which is ...

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Abstract

The invention relates to a lunar rover coordinated drive self-adaption fault-tolerant control method based on a hierarchical fuzzy system. According to the method, a fault-tolerant controller is designed according to faults of an actuator on the situation that uncertainty and external disturbances exist in the system. The method includes the steps that an expectation value of a wheel slip ratio is given; a change range of a wheel in a dynamic process is limited according to the expectation value of the slip ratio; a bounded function of an unknown function of the system is given; a bounded function of an unknown failure function and a bound of an unknown disturbance item are given; a domain and a membership function of an input variable of the fuzzy system of each layer are given; a hierarchical fuzzy logical system approximates an unknown function; an adaptive law of a parameter vector is designed; a hierarchical fuzzy fault-tolerant controller is designed. The method enables the number of fuzzy rules to be greatly reduced and facilitates real-time control; control precision before a fault and control precision after a fault are high, and steady state time is short.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a layered fuzzy system-based self-adaptive fault-tolerant control method for coordinated driving of a lunar exploration vehicle. Background technique [0002] In the lunar exploration project, the lunar exploration vehicle plays an extremely important role. The lunar exploration vehicle is the carrier of various detection instruments, and its basic function is to have the ability to walk on complex roads in unknown environments. Much of the Moon's surface is covered with fine dust and debris called regolith. From the perspective of physical characteristics, most of the soil in the lunar regolith layer is relatively soft, and there are many small sandstones distributed. This soil condition poses a great challenge to the autonomous driving of the rover. To perform scientific exploration tasks in such a complex terrain environment, the lunar rover must have a control s...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 孙多青
Owner HEBEI NORMAL UNIVERSITY OF SCIENCE AND TECHNOLOGY
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