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Heterogeneous fleet fault tolerance control method based on variable time interval strategy

A time interval, fault-tolerant control technology, applied in non-electric variable control, two-dimensional position/navigation control, vehicle position/route/altitude control, etc. Queue stability and other issues to achieve the effect of increasing critical traffic capacity and ensuring stability

Active Publication Date: 2019-10-15
DALIAN MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] According to the above proposals, considering that the fixed spacing strategy cannot guarantee the stability of the queue, the fixed time spacing strategy cannot guarantee the stability of traffic flow, and the non-zero initial spacing error may cause the technical problem of system instability, a different time spacing strategy based on variable time spacing is provided. Fault Tolerant Control Method of Construction Fleet

Method used

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  • Heterogeneous fleet fault tolerance control method based on variable time interval strategy
  • Heterogeneous fleet fault tolerance control method based on variable time interval strategy
  • Heterogeneous fleet fault tolerance control method based on variable time interval strategy

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Experimental program
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Effect test

Embodiment 1

[0115] The specific process of step S1 is as follows:

[0116] S11. Define the dynamic model of the leading vehicle, as follows:

[0117]

[0118] where x0 (t), v 0 (t), a 0 (t) represent the position, speed and acceleration of the leading car respectively, and a 0 (t) represents the same given time function;

[0119] S12. Perform force analysis on the longitudinal motion of the vehicle to obtain the longitudinal dynamic model of the vehicle:

[0120]

[0121]

[0122]

[0123] where x i ,v i ,a i are the position, velocity and acceleration of vehicle i respectively; c i is the actuator input, f i (v i ,a i ) is a nonlinear function, and its function expression is as follows:

[0124]

[0125] 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; due to the mass m of the car i is uncertain, so the nonli...

Embodiment 2

[0136] On the basis of embodiment 1, the specific process of step S2 is as follows:

[0137] S21. Define the displacement tracking error as follows:

[0138]

[0139] Among them, δ i is the safety 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 expected maximum acceleration of the controlled vehicle, ρ i0 Represents the lower bound value of the actuator failure; thus it can be obtained that:

[0140]

[0141] Indicates that the initial value of the proposed variable time spacing strategy is zero in any case;

[0142] S22. Define the ideal inter-vehicle distance as follows:

[0143]

Embodiment 3

[0145] On the basis of embodiment 2, the specific process of step S3 is as follows:

[0146] S31. In order to make δ i It tends to be infinitely close to 0 in a finite time and guarantees the consistent stability of the queue, constructing a proportional-integral-differential sliding surface:

[0147]

[0148] Among them, K p , K i , K d represent proportional, integral and differential coefficients respectively;

[0149] S32. According to the transfer function G i (s) definition, construct δ i and δ i+1 The relationship between , defines the coupled sliding mode surface:

[0150]

[0151] where λ is the coupled sliding mode surface s i and s i+1 normal number of ; when s i When reaching the sliding surface, s i can also reach the sliding surface.

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Abstract

The invention provides a heterogeneous fleet fault tolerance control method based on a variable time interval strategy. The method comprises the following steps of carrying out force analysis on longitudinal motion of vehicles and combining an actuator fault model to establish a vehicle longitudinal dynamics model under an actuator fault; constructing the variable time interval strategy with a lower boundary of fault information according to information of the vehicles; based on the constructed variable time interval strategy, establishing a proportional integral differential sliding mode surface and a coupled sliding mode surface; and selecting an appropriate Lyapunov function to design a fault-tolerant controller and an adaptive update rate, and proving finite time stability of a system.Traffic flow stability is proved based on the variable time interval strategy with the lower boundary of the fault information. Queue stability is proved based on the proportional integral differential sliding mode surface and the coupled sliding mode surface. Compared with a traditional variable time interval strategy, by using the technical scheme of the invention, a problem of a non-zero initial spacing error can be solved, and a critical traffic capacity can be increased.

Description

technical field [0001] The present invention relates to the technical field of control of heterogeneous fleets, in particular to a fault-tolerant control method for heterogeneous fleets based on a variable time interval strategy. Background technique [0002] In recent years, the longitudinal control of autonomous fleets has been deeply studied. Zheng Y et al. studied the problem of heterogeneous fleet information flow protocols, and established a linearized vehicle dynamics model using precise feedback linearization. Finally, using algebraic graph theory and Routh-Hurwitz stabilization The stability criterion demonstrates the stability of heterogeneous fleets. However, for nonlinear systems with uncertain models or external disturbances, feedback linearization cannot provide an effective design method, that is, it cannot satisfy the control problems under the condition of incomplete environment and system dynamic characteristics. For this reason, many scholars have propose...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0295G05D1/0276
Inventor 郝立颖李平郭戈
Owner DALIAN MARITIME UNIVERSITY
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