针对四轮独立驱动电动汽车驱动电机故障,提出了一种基于线性变参数(LPV)增益调度技术的容错控制方法,从而降低执行器故障对车辆运行的影响.首先将执行器左右两侧故障因子作为调度参数,基于LPV凸分解方法,将故障状况下的车辆模型转化为具有凸多面体结构的 LPV模型,并利用线性矩阵不等式技术对凸多面体各个顶点分别设计满足H∞性能和闭环极点配置的控制器;然后利用各顶点设计的反馈控制器综合得到最终LPV容错控制器;最终采用CarSim与MATLAB/Simulink联合仿真的方式,验证了该方法的有效性.结果表明:LPV增益调度技术可以成功地应用于四轮独立驱动电动汽车的容错控制,在存在故障的情况下,仍能保持系统的稳定性和良好的动态性能.%It proposes a fault tolerant control(FTC)method to four-wheel independently driven(4WID)electric vehicle based on linear parameter -varying(LPV)gain-scheduling technique, so as to reduce the effects of drive motor failure on vehicle running.Assuming both sides of the actuator fault factor as the scheduling parame-ter,it uses LPV convex decomposition method to convert the vehicle model with actuator failure into convex poly -hedron structure LPV model,designs each vertex of convex polyhedron to meet H∞performance and closed loop pole placement based on linear matrix inequalities(LMIs).All the vertex gains are synthesized to get LPV fault tolerant controller.The co-simulations in CarSim and Matlab/Simulink demonstrate the effectiveness of the pro-posed method.The result shows that the LPV gain -scheduling fault tolerant controller can be applied to the 4 WID electric vehicle successfully, and maintain stability and good dynamic performance when the system is suf-fering a fault.
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