Coordinated Control Approach for Brake Actuator Failures: A Fault-Tolerant Strategy Using Braking Systems and Steering

IF 3.6 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2025-06-20 DOI:10.1109/ACCESS.2025.3581926

Yunchul Ha;Seunguk Jeon;Jinyong Park;Seoyeon Choi;Seunghoon Woo

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引用次数: 0

Abstract

In this study, a fault-tolerant control system is proposed for brake actuators in a vehicle. A degradation in deceleration performance and lateral stability caused by brake actuator failure can cause serious safety issues. The integration of braking system with either the drive or steering actuators has performance limitations, and previously studied fully integrated braking, driving, and steering systems have complex structures. Therefore, a coordinated control approach for fault-tolerant control of brake actuators was proposed herein to achieve a coordinated control of the drive, brake, and steering actuators. The drive and brake controller performed optimal torque allocation of the desired longitudinal force and yaw moment, and a constraint was set to ensure that the yaw moment error did not exceed the allowable limit. The unachieved yaw moment in the drive and brake controllers was compensated by the front and rear wheel feedforward steering angles of the steering controller. This structure improved deceleration performance and lateral stability by allowing a certain amount of imbalance in braking force and compensating for it with the steering control. The fault-tolerant control system was verified via simulations and experiments, demonstrating that additional control of driving and steering improved the deceleration performance and lateral stability, respectively. Simulation results revealed that the proposed strategy considerably improved lateral stability compared to independent control strategy using the same actuators. The experiments further verified the applicability of the proposed strategy to vehicles and confirmed that yaw rate errors were reduced under both single and dual brake actuator failure conditions.

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制动致动器故障的协调控制方法：采用制动系统和转向的容错策略

在本研究中，提出一种车辆制动执行器的容错控制系统。刹车制动器故障导致的减速性能和横向稳定性下降可能导致严重的安全问题。制动系统与驱动或转向作动器的集成存在性能限制，并且先前研究的完全集成的制动、驾驶和转向系统具有复杂的结构。为此，提出了一种制动作动器容错协调控制方法，实现了驱动、制动和转向作动器的协调控制。驱动和制动控制器对所需的纵向力和横摆力矩进行最优转矩分配，并设置约束以确保横摆力矩误差不超过允许的极限。驱动和制动控制器中的未实现偏航力矩由转向控制器的前轮和后轮前馈转向角补偿。这种结构提高了减速性能和横向稳定性，允许一定数量的制动力不平衡和补偿它与转向控制。通过仿真和实验验证了该容错控制系统，结果表明，额外的驾驶和转向控制分别提高了减速性能和横向稳定性。仿真结果表明，与使用相同作动器的独立控制策略相比，该策略显著提高了横向稳定性。实验进一步验证了所提策略在车辆上的适用性，并证实在单制动制动器失效和双制动制动器失效情况下，横摆角速度误差均有所降低。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

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