汽车电子机械制动系统的最优保性能容错机制关键理论研究

Unlike traditional fault tolerance studies which have been mainly in the filed of computer science dealing with faulty computer hardware and software, the fault tolerance studies on vehicle Electro-Mechanical Brake (EMB) system can be very challenging since it involves a large yet complex system composed of mechatronic units, electric and by-wire controllers, computer software and hardware, and signal processors, in addition to sensors and communication network. As a critical automotive safety unit, EMB system must endure very rough and challenging operational environment under high system reliability requirements and low production cost constraints. This project focuses on fault tolerance control issues in the EMB system. It is aimed at the improvement of the core performance of fault tolerant control algorithm like expansibility, effectiveness, and reliability, by means of advanced technologies such as optimal guaranteed performance control and information fusion. In consideration of the failure mode that the by-wire system has no mechanical redundant, the tolerant control theory for robust fault detecting, diagnosis, and prognosis failure will be studied. And then, using dynamic variable structure, fuzzy variable structure, adaptive and self-adjustment method, an integrated approach is proposed which takes into consideration of the system as a whole in terms of its electronics, control, and communication. Therefore, the multiple controlled object system integrating and the fault-tolerant control technology will be improved; Through theoretical studies on the dynamically allocate of the node and the message, as well as channel resource sharing, the approaching theory and methods are proposed to improve the network utilization and throughput of fault-tolerant control with methods of information fusion, analytical redundancy, and Agent. Then the intelligent control and optimization design techniques for in-vehicle communication network will be improved. This project studies will promote the development of corresponding theories and technologies in EMB system. As well as, research results would become the key technology in the future electric vehicle.

汽车电子机械制动系统是一个集机电一体化、电控与线控、软件与硬件、传感器与网络等于一体的复杂系统。本项目重点关注电子机械制动系统中容错控制问题，目的是利用最优保性能控制和信息融合等先进技术，对容错控制算法的扩展性、有效性和可靠性等核心性能及效率指标进行全方位的改进。通过分析线控系统没有机械冗余的失效模式，研究鲁棒故障检测、诊断和失效预后的容错控制理论，采用动态及模糊变结构、自适应、自调整等方法，提出基于软件与硬件冗余相结合、控制、电子和通信一体化的多途径综合容错控制理论和方法。改善多重被控对象系统的集成与容错控制技术；通过研究节点、信息的动态分配和信道资源共享等理论，采用信息融合、解析冗余和Agent等方法，提出提高网络使用率和吞吐量的理论和方法。改善车载通信网络的智能控制及优化设计技术。本课题的研究可促进电子机械制动系统中相应理论和技术的发展，研究成果有望成为未来电动汽车的核心关键技术。

纯电动汽车是未来汽车发展目标，纯电动汽车的电子机械制动系统（EMB）直接关系到汽车的安全性和可靠性并受到广泛关注。在EMB系统中，为保证车辆的制动性能的可靠性，需要传感器和总线网络信号的准确反馈。一旦传感器或总线网络信号出现故障，将会对汽车安全造成极大的威胁。本项目重点关注电子机械制动系统中容错控制问题，目的是利用最优保性能控制和信息融合等先进技术，对容错控制算法的扩展性、有效性和可靠性等核心性能及效率指标进行全方位的改进。本研究根据电子制动踏板模拟器的物理结构和运动特性，建立了电子制动踏板模拟器的数学模型，并提出了CSA-SVR算法、T-S模糊控制模型等传感器故障诊断方法；并利用电子制动踏板模拟器的数学模型和传感器故障诊断模型来建立了故障检测模型和自适应容错控制架构模型。比传统的算法提高了62.5%的故障检测率和10%的故障分类准确率。从而进一步改善了多重被控对象系统的集成与容错控制技术。针对FlexRay静态段网络利用率最大化问题提出了获取静态时隙最佳长度的算法，提出了静态段信息和动态段信息的最长反应时间计算方法，以信息的最长反应时间为依据确定了动态段长度。从而网络利用率降低到了61.5 %；为了提高消息的传输效率，提出了给予分组和排列方法的消息信号封装方法；为了实现FlexRay系统所需的Frame ID数量最小化，构建了静态段时隙由多个消息帧复用的消息调度策略。经实验仿真表明，该模型使Frame ID数目减少44%、带宽利用率提高了12%、总线负载减少了0.3%。从而改善了车载通信网络的智能控制及优化设计技术。本课题的研究可促进电子机械制动系统中相应理论和技术的发展，研究成果有望成为飞机、坦克、卫星等系统的核心关键技术。