不确定车辆电子稳定控制系统传感器故障估计

针对车辆横摆角速度传感器故障问题，提出一种基于观测器的故障估计策略.首先，考虑由于轮胎侧偏刚度特性造成的不确定性以及系统中存在非线性干扰等因素，建立车辆四轮转向系统数学模型.然后，设计基于观测器的传感器故障估计策略，利用李雅普诺夫函数和线性矩阵不等式方法求解观测器增益.最后，通过Carsim与Simulink联合仿真验证所设计的传感器故障诊断策略的有效性.结果表明：在传感器发生故障时，该诊断策略能够对系统状态以及传感器故障具有良好的估计效果，能够为车辆安全稳定系统提供关键信息，并且对于下一步的传感器故障容错控制提供技术支持.

Sensor Fault Estimation of Uncertain Vehicle Electronic Stability Control System

An observer-based fault estimation strategy is proposed to solve the fault problem of yaw rate sensor. Firstly， considering the uncertainty caused by tire cornering stiffness characteristics and nonlinear disturbance in the system， the mathematical model of vehicle four-wheel steering system is established. Then， an observer-based sensor fault estimation strategy is designed， and the observer gain is solved by Lyapunov function and linear matrix inequality method. Finally， the effectiveness of the sensor fault estimation strategy is verified by Carsim and Simulink simulation. The results show that the proposed strategy can estimate the system state and sensor fault well when the sensor fault occurs. It can provide key information for vehicle safety and stability system， and provide technical support for the next step of sensor fault-tolerant control.