基于神经网络联合逆的4WID多电机协调容错控制

项目名称： 基于神经网络联合逆的4WID多电机协调容错控制

项目编号： No.61273154

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 刘国海

作者单位： 江苏大学

项目金额： 80万元

中文摘要： 四轮独立驱动（4WID）已成为电动汽车发展的重要方向之一，其驱动系统的协调控制及可靠性问题制约其走向实用。本项目旨在提高4WID电动汽车的带故障运行能力，融合容错电机、多电机协调与车辆主动安全控制，藉此实现多电机系统故障条件下的协调运行。建立面向转矩协调控制的"电机-轮胎-车辆"联合数学模型；研究基于神经网络左逆软测量的车辆状态集成观测方法；剖析车辆横向、纵向之间的动力学耦合特性，提出神经网络联合逆的多电机协调容错控制理论；建立系统故障诊断与最小损耗的容错控制策略；搭建多电机驱动整车模拟实验系统；提炼基础科学问题，探索故障条件下多电机协调容错控制的一般性规律。项目属控制工程与汽车工程交叉学科的应用基础研究，为我国研制开发具有自主知识产权的高可靠性电动汽车驱动系统奠定理论与实验基础，还可以推广到其它对系统连续运行有较高要求的多电机驱动领域。

中文关键词： 四轮独立驱动电动汽车；五相永磁容错电机；神经网络联合逆；执行器冗余；容错协调控制

英文摘要： The four-wheel-independent-drive(4WID) electric vehicles(EVs) has indubitably become one of the most important trends for EVs. However, it suffers from the problems of coordinated control and reliability, which limit the practical applications. This project aims to improve the operation ability under the faulty condition by incorpotating the merits of the fault-tolerant motor, the multi-motor coordination and the active safety control of the vehicles. Thus, the coordinated fault-tolerant operation of the multi-motor system will be realized. This project will establish the "motor-tire-vehicle" united mathematic model which oriented to the torque coordinated control. Secondly, an integrated observation of the vehicle states will be investigated in which the neural network left inverse soft sensors theory will be adopted. Thirdly, by decoupling the vehicle longitudinal and the lateral dynamics, the multi-motor coordinated fault-tolerant control theory based on the neural network combined inverse will be proposed. This project will also build the faulty detection method and the optimal reduced-loss fault-tolerant control strategy. Finally, the multi-motor drive platform will be developed which can simulate the operation of the vehicles. Meanwhile, the basic problems of science can be clarified and the general rules

英文关键词： 4WID-EV；five-phase FTPM motor；neural network combined inverse；over-actuator；fault-tolerant coordinated control