基于完整性鲁棒容错技术的汽车电动助力转向系统控制器研究

为提高汽车电动助力转向系统（EPS）的可靠性与安全性，将完整性鲁棒容错控制技术应用于EPS系统反馈控制器的设计中，得到了具有鲁棒稳定性的控制器。基于Lyapunov稳定性理论，首先研究了存在参数摄动的线性连续系统对传感器失效具有完整性的鲁棒容错控制律，得到了闭环系统鲁棒可镇定的充分必要条件，给出了其设计方法和设计步骤,以及给定参数下的数字仿真实例。仿真结果表明了在该容错控制器作用下，既可以保证电动助力转向系统对传感器故障的不敏感性，即仍能在部分传感器存在故障条件下稳定运行，而且还使得该闭环EPS系统对于允许的预先给定的参数不确定性具有鲁棒稳定性。

Research of Electric Power-Steering System Controller Based on Integrity Robust Fault-Tolerant Control Strategy

In order to improve the reliability and safety of the Electric Power-Steering System (EPS) system, this paper adopts the integrity robust fault- tolerant control strategy on the design of the feedback controller for EPS System . Based on the Lyapunov stability theory and Lyapunov functions, the paper firstly researches the rule of robust fault- tolerant control which has function integrity for the sensor failure in the linear continuous system which also has some degree of the uncertainty of parameter fluctuation. this paper gives the sufficient -and- necessary conditions for the system itself robustly be stabilized and its design method and steps are given. Then, by applying such integrity robust fault- tolerant controller for the EPS system ,the data simulation results shows that the EPS close-loop system not only has not sensitive for the sensor failure ,which means that EPS system can stably work under some sensor failure condition, but also has robust stability for limited parameter uncertainty.