Differential Steering Vehicle Dynamics Control with Rule-Based Unilateral Fault-Tolerant Control Strategy East China Jiaotong University

Format:

Book

Conference/Event

Author/Creator:

Zou, Mingyu, author.

Contributor:

Hu, Yiming

Lu, Jun

Wang, Xiaoliang

Yang, Jinwen

Yu, Qin

Yu, Yinquan

Zeng, Dequan

Conference Name:

WCX SAE World Congress Experience (2025-04-08 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

A rule-based unilateral fault-tolerant control strategy is proposed to improve the vehicle's yaw stability and dynamics in case of drive system failure for multi-axle differential steering vehicles due to various unpredictable factors during driving. Meanwhile, based on the conditional integration algorithm, a multi-axis differential steering vehicle dynamics control is designed to resist integration saturation, which ensures that the vehicle tracks the reference signal accurately. In order to test the designed fault-tolerant control strategy, the first wheel drive motor in the left is set to be in a state of complete failure after the 10th second on the basis of the vehicle's forward-steering driving condition in order to construct a failure test condition; deviation angle error without fault-tolerant control is 0.22182rad and the extreme value of the yaw velocity error is 0.03687 rad/s. After fault-tolerant control, the extreme value of the center-of-mass lateral deviation angle error is reduced to 0.03019 rad, with a reduction of 86.38%; the extreme value of the yaw velocity error is reduced to0.00615 rad/s, with a reduction of 83.32%, which verifies the validity of the rule-based unilateral fault-tolerant control is effective

Notes:

Vendor supplied data

Publisher Number:

2025-01-8808

Access Restriction:

Restricted for use by site license