基于故障诊断的分布式电动汽车容错控制策略

Fault-tolerant Control Strategy for Distributed Electric Vehicles Based on Fault Diagnosis

针对分布式电驱动汽车在行驶过程中电机失效带来的安全性风险,提出了基于电机失效诊断和滑模控制的故障容错控制策略,并设计了整车控制器。控制器采用双层结构,上层控制器为驱动力矩和附加横摆力矩计算模块,下层控制器为容错控制模块。基于TruckSim建立分布式电动汽车整车模型,进行了单电机失效模式下正弦输入工况和双移线工况的仿真,结果表明:容错控制器能准确识别故障并重新分配驱动力矩,力矩响应快。

In view of the safety risk brought by motor failure in the driving process of distributed elec⁃tric vehicles,a fault-tolerant control strategy based on motor failure diagnosis and sliding mode control was proposed,and a vehicle controller was designed.The controller adopted a two-layer structure.The upper controller was the calculation module for driving torque and additional yaw moment,while the lower controller was a fault-tolerant control module.Based on TruckSim software,a model of distribut⁃ed electric vehicles was established,and the simulation of sinusoidal input and double-line-change in⁃put conditions under single-motor failure mode was carried out.The experimental results show that the fault-tolerant controller can accurately identify the fault and correctly redistribute the driving torque,and the torque response is fast.