分布式驱动电动汽车执行器失效容错控制研究

Research on Rault-Tolerant Control for Motor Failure in Distributed Drive Electric Vehicles

为了提高单电机故障状态下分布式驱动电动汽车的稳定性,提出了一种驱动力重构和主动前轮转向(AFS)结合的容错控制方法。首先,设计滑模控制器,控制输入量为横摆角速度和质心侧偏角,进而对所需横摆力矩和前轮附加转角进行控制。其次,建立电机故障状态下的整车驱动力优化分配模型。当车辆电机出现故障时,运用二次规划算法对各电机转矩进行重构分配。同时,当某一电机发生故障且同侧电机出现输出饱和而无法提供足够的横摆力矩时,通过主动前轮转向提供附加横摆力矩。最终搭建CarSim/Simulink联合仿真模型进行验证,结果显示,所采用的容错控制方法可有效提高车辆稳定性和动力性。

In order to improve the stability of distributed drive electric vehicle under single motor fault state,a fault-tolerant control method combining driving force reconstruction and active front steering(AFS)is proposed.Firstly,a sliding mode controller is designed to control the yaw rate and the center of mass deflection angle.Secondly,an optimal distribution model of vehicle driving force is established under the condition of motor failure.When the vehicle motor fails,the use of quadratic programming algorithm for the motor torque into row refactoring allocation.At the same time,when a motor fails and the output of the same side motor is saturated and can not provide enough yaw torque,additional yaw torque is provided by active front steering.Finally,the CarSim/Simulink joint simulation model is built to test.The results show that the fault-tolerant control method can effectively improve the vehicle stability and power.