<p>The dual-winding steer-by-wire system represents advanced steering technology, where fault-tolerant control is essential to satisfy the redundancy requirements of autonomous driving. When one winding experiences an open-phase fault, the fault-tolerant control of the dual-winding steer-by-wire system encounters two primary challenges: model mismatch and increased system uncertainty. To address these issues, this paper proposes an event-triggered variable tube-based actively reconfigured model predictive fault-tolerant control strategy. The strategy incorporates event-triggered mechanism, actively reconfigured faulty model, adaptive unscented Kalman filter, and variable tube-based model predictive controller. The actively reconfigured faulty model is designed to minimize copper loss, fully utilize the faulty winding and reduce current harmonics and torque ripple. The adaptive unscented Kalman filter dynamically observes the fault coefficient matrix and the increased system uncertainty. The variable tube-based model predictive controller switches to the actively reconfigured faulty model as the prediction model via the fault event-triggered mechanism and adjusts the tube shape based on the adaptive unscented Kalman filter results to improve fault-tolerant tracking performance. The error event-triggered mechanism reduces the control frequency, conserving communication and computational resources. Hardware-in-the-loop test results demonstrate that the proposed control strategy enhances tracking performance, and the event-triggered mechanism effectively conserves communication and computational resources without compromising control performance.</p>

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Event-Triggered Variable Tube-Based Actively Reconfigured Model Predictive Fault-Tolerant Control for Dual-Winding Steer-by-Wire System

  • Weihe Liang,
  • Weijie Yan,
  • Wanzhong Zhao,
  • Chunyan Wang,
  • Zhongkai Luan

摘要

The dual-winding steer-by-wire system represents advanced steering technology, where fault-tolerant control is essential to satisfy the redundancy requirements of autonomous driving. When one winding experiences an open-phase fault, the fault-tolerant control of the dual-winding steer-by-wire system encounters two primary challenges: model mismatch and increased system uncertainty. To address these issues, this paper proposes an event-triggered variable tube-based actively reconfigured model predictive fault-tolerant control strategy. The strategy incorporates event-triggered mechanism, actively reconfigured faulty model, adaptive unscented Kalman filter, and variable tube-based model predictive controller. The actively reconfigured faulty model is designed to minimize copper loss, fully utilize the faulty winding and reduce current harmonics and torque ripple. The adaptive unscented Kalman filter dynamically observes the fault coefficient matrix and the increased system uncertainty. The variable tube-based model predictive controller switches to the actively reconfigured faulty model as the prediction model via the fault event-triggered mechanism and adjusts the tube shape based on the adaptive unscented Kalman filter results to improve fault-tolerant tracking performance. The error event-triggered mechanism reduces the control frequency, conserving communication and computational resources. Hardware-in-the-loop test results demonstrate that the proposed control strategy enhances tracking performance, and the event-triggered mechanism effectively conserves communication and computational resources without compromising control performance.