Heterogeneous vehicle team fault-tolerant control method based on actuator faults and saturation

A fault-tolerant control and actuator technology, applied in two-dimensional position/course control, vehicle position/route/height control, adaptive control, etc., can solve non-zero initial distance error, increase critical traffic capacity, and do not consider execution Problems such as actuator failure and actuator saturation can be solved to achieve the effect of ensuring stability, increasing critical traffic capacity, and ensuring queue stability

Active Publication Date: 2019-09-17
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] According to the above, the existing technology does not consider the simultaneous occurrence of actuator failure and actuator saturation, and the existing technology uses a fixed time interval strategy. Although this strategy can guarantee the stability of the queue, it cannot guarantee the stability of the traffic flow. , and provide a variable time spacing strategy with fault information and saturation index, compared with the traditional variable time spacing strategy, it can not only solve the problem of non-zero initial spacing error, but also increase the critical traffic capacity

Method used

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  • Heterogeneous vehicle team fault-tolerant control method based on actuator faults and saturation
  • Heterogeneous vehicle team fault-tolerant control method based on actuator faults and saturation
  • Heterogeneous vehicle team fault-tolerant control method based on actuator faults and saturation

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Experimental program
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Effect test

Embodiment 1

[0129] The specific process of step S1 is as follows:

[0130] S11. Define the dynamic model of the leading vehicle, as follows:

[0131]

[0132] where x 0 (t), v 0 (t), a 0 (t) represent the position, speed and acceleration of the leading car respectively, and a 0 (t) is a given time function;

[0133] S12. Carry out force analysis on the longitudinal motion of the vehicle, and establish a vehicle longitudinal dynamics model under failure:

[0134]

[0135]

[0136]

[0137] Among them, sat(u ai (t)) is the actuator input with fault and saturation characteristics, w i (t) is the unknown external disturbance, f i (v i ,a i ,t) is a nonlinear function, and its function expression is as follows:

[0138]

[0139] Among them, τ i is the engine time constant, υ is the air mass constant, m i , A i , C di and d mi are the mass, cross-sectional area, drag coefficient and mechanical drag of vehicle i, respectively;

[0140] S13. The actuator failure mod...

Embodiment 2

[0160] On the basis of embodiment 1, the specific process of step S2 is as follows:

[0161] S21. Define the displacement tracking error as follows:

[0162]

[0163] Among them, δ i (t) is the inter-vehicle distance error between the i-th car and the i-1th car, γ i is a constant, L i is the length of vehicle i, Δ i-1,i is the safety distance between two vehicles, h represents the delay time of the fleet control system, σ represents the safety factor, A m is the maximum acceleration, ρ i0 Represents the lower bound value of actuator failure, χ l is the lower bound of the saturation index, so that:

[0164]

[0165] Representing the initial value of the variable time spacing strategy proposed by the present invention is zero in any case;

[0166] S22. Define the ideal inter-vehicle distance as follows:

[0167]

Embodiment 3

[0169] On the basis of embodiment 2, the specific process of step S3 is as follows:

[0170] S31. In order to make δ i (t) tends to be infinitely close to 0 in a finite time and ensures the consistent stability of the queue, constructing a proportional-integral-differential sliding mode surface:

[0171]

[0172] Among them, K p , K i , K d represent proportional, integral and differential coefficients respectively;

[0173] S32. According to the transfer function G i (s) definition, construct δ i (t) and δ i+1 The relationship between (t) defines the coupled sliding mode surface:

[0174]

[0175] where λ is the coupled sliding mode surface s i (t) and s i+1 (t) positive constant; when s i (t) When reaching the sliding surface, s i (t) can also reach the sliding surface;

[0176] S33. Using the RBF neural network function to perform nonlinear processing, the function expression is as follows:

[0177]

[0178] in, Represents the ideal weight vector of th...

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Abstract

The invention provides a heterogeneous vehicle team fault-tolerant control method based on actuator fault and saturation. The method comprises the following steps: carrying out stress analysis on longitudinal movement of vehicles, and by combining actuator fault and saturation models, building a vehicle longitudinal dynamics model under the actuator fault and saturation; according to information of the vehicles, constructing a variable time interval strategy with fault information and a saturation index; and based on the constructed variable time interval strategy, establishing a proportional integral differential sliding mode surface and a coupling sliding mode surface; and selecting a proper Lyapunov function, designing a fault-tolerant controller and an adaptive updating rate, and proving the limited time stability of a system. Compared with a traditional variable time interval strategy, the variable time interval strategy with the fault information and the saturation index not only can solve the problem of non-zero initial interval error but also can expand critical traffic capacity.

Description

technical field [0001] The invention relates to the technical field of heterogeneous fleet control, in particular to a fault-tolerant control method for heterogeneous fleets based on actuator failure and saturation. Background technique [0002] In the past few years, the longitudinal control of autonomous fleets has been studied in depth. Yue Wei et al. have fully considered the factors induced by fleets and communication networks (such as quantization, delay, and packet loss) for autonomous fleets under the influence of communication networks. ), established a mixed fleet control model under the influence of fleet communication network induction factors, improved the existing fleet control system model to a large extent, and further designed a controller to overcome the interference of the leader vehicle, which can not only realize the stable operation of the fleet control, and the team control effect is greatly improved. Based on the vehicle longitudinal hysteresis dynam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04
CPCG05D1/0291G05B13/04
Inventor 郝立颖李平郭戈
Owner DALIAN MARITIME UNIVERSITY
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