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Active Fault Tolerant Decentralized Control Strategy for an Autonomous 2WS4WD Electrical Vehicle Path Tracking

机译：自主2WS4WD电动汽车路径跟踪的主动容错分散控制策略

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This paper presents an active fault tolerant control (AFTC) strategy for preserving the path tracking for an autonomous 2 wheel-steering 4 wheel-driving (2WS4WD) electrical vehicle in the presence of an actuator fault. It is based on a decentralized fault tolerant control strategy for overactuated systems. The strategy consists of generating new REFERENCEs for redundant actuators, which are only used when faults are detected, and tracking these REFERENCEs. For a 2WS4WD vehicle, five actuators are used in normal situations to ensure the vehicle path tracking: the front-wheel steering actuator and the four traction actuators. However, in faulty situations, the vehicle's rear-wheel steering actuator is controlled in order to preserve the system's path tracking and to ensure the desired performance. The elaborated control law that is used to control the rear-wheels steering system is composed of 2 interconnected control loops: an outer loop and an inner loop. This decentralized control strategy tolerates the traction and the front-wheel steering actuator faults. The main advantage of the proposed fault tolerant strategy is that the faults can be compensated by computing online new REFERENCEs for the control loops without changing the initial controllers. This strategy provides the necessary time for a diagnosis system to precisely isolate the faulty actuator. This method is tested and validated on a realistic vehicle dynamic model co-simulated using CarSim and Matlab-Simulink softwares.
机译：本文提出了一种主动故障容错控制（AFTC）策略，用于在执行器出现故障的情况下保留自主2轮转向4轮驱动（2WS4WD）电动汽车的路径跟踪。它基于针对过度驱动系统的分散式容错控制策略。该策略包括为冗余执行器生成新的参考，这些参考仅在检测到故障时使用，并跟踪这些参考。对于2WS4WD车辆，在正常情况下使用五个致动器来确保车辆路径跟踪：前轮转向致动器和四个牵引致动器。但是，在故障情况下，将控制车辆的后轮转向执行器，以保持系统的路径跟踪并确保所需的性能。用于控制后轮转向系统的详细控制律由两个相互连接的控制回路组成：外回路和内回路。这种分散的控制策略可以承受牵引力和前轮转向执行器故障。提出的容错策略的主要优点是可以通过在线计算控制回路的新参考值来补偿故障，而无需更改初始控制器。该策略为诊断系统精确隔离故障执行器提供了必要的时间。该方法在使用CarSim和Matlab-Simulink软件共同仿真的真实车辆动力学模型上进行了测试和验证。

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