基于重构控制分配的分布式电动车容错控制方法

Fault-tolerant Control Method of Distributed Electric Vehicle Based on Reconfiguration Control Distribution

针对分布式驱动电动车过驱动系统存在的冗余现象,以带有主动前轮转向系统的四轮轮毂电机驱动电动汽车为研究对象,设计了执行器故障后的容错控制算法。容错控制器采用集成控制结构,上层为运动跟踪层,基于模型预测控制算法,得到车辆跟踪期望状态所需总的力与力矩;下层为重构控制分配器,针对驱动电机的多种故障情况,以整车稳定性和安全性为目标制定重构控制分配率。通过实验表明,在高速高附的仿真工况下,面临多种执行器故障模式时,相比无控制的车辆,处于容错控制算法控制下的车辆横摆角速度最大值由0.3rad/s降低到0.1rad/s,质心侧偏角由0.03rad降低到0.015rad,显著提高了车辆的横摆稳定性与安全性能。

Proposed in this paper is a fault-tolerant control algorithm for the redundancy in the overdrive system of distributed driven electric vehicle,which is designed for the electric vehicle driven by four-wheel hub motor with active front wheel steering system.The fault-tolerant controller adopts the integrated control structure,and the upper layer is the motion tracking layer.The lower layer is the reconfiguration control distributor.In view of various fault conditions of the driving motor,the reconfiguration control distribution rate is set with the stability and safety of the whole vehicle as the objective.The simulation results show that compared with the uncontrolled vehicle,the maximum vehicle yaw speed under the control of fault-tolerant control algorithm decreases from 0.3 rad/s to 0.1 rad/s,and the centroid side deflection angle decreases from 0.03 rad to 0.015 rad,which significantly improves the vehicle’s yaw stability and safety performance.