基于观测器的车辆电子稳定控制系统执行器故障重构

为提高执行器故障时车辆在复杂工况下运行的稳定性，针对不确定车辆电子稳定控制系统设计基于观测器的故障重构策略.考虑系统中的不确定因素，建立双输入双输出四轮转向系统车辆数学模型.构造増广系统，利用李雅普诺夫函数和线性矩阵不等式技术获得观测器增益矩阵.通过MATLAB/Simulink和Carsim联合仿真验证该方法的有效性.结果表明:在故障发生时，观测器的状态估计值与真实值之间存在一定偏差，但很快能够跟踪上车辆的实际运行状态，实现故障诊断的目的.与前轮转向系统相比，四轮转向系统能够显著增强高速运行时车辆的稳定性和安全性.

Actuator Fault Reconstruction of Vehicle Electronic Stability Control System Based on Observer

In order to improve the stability of vehicles under complex operating conditions when the actuator fails， a fault reconstruction strategy based on observer was designed for the electronic stability control system of uncertain vehicles.Considering the uncertain factors in the four-wheel steering system， a dual-input and dual-output mathematical model was established.An augmented system is constructed and the observer gain matrix is obtained by Lyapunov function and linear matrix inequality techniques. The effectiveness of the proposed method is verified by MATLAB/Simulink and Carsim joint simulation. The results indicate that there is some certain deviation between the observer state estimated value and the real value when the fault occurs. However，the estimated value can quickly track the real value to realize fault diagnosis. Compared with the front-wheel steering system， the four-wheel steering system can significantly enhance the stability and safety of the vehicle at high speed.