Multiple multiphase fault-tolerant motors for electric automobile and decoupling control method thereof

Abstract

The invention discloses multiple multiphase fault-tolerant motors for an electric automobile and a decoupling control method thereof. A plurality of multiphase fault-tolerant motors respectively arranged in wheels of an electric automobile are respectively connected with a multiphase independent controller comprising a photoelectric encoder, a DSP controller, an inverter and an automobile signal sensor to form a movement control system of the electric automobile; torque distribution is directly carried out on the multiphase fault-tolerant motors by applying an improved direct yawing moment control method of a support vector basis inverse controller through decoupling among the mass center distortion angle beta, the yawing velocity gamma and the longitudinal velocity vx of the electric automobile. The motors are independently controlled respectively, and therefore, the absence of a certain phase has small influence on continuous running of the system; the motors have good fault operating performance and realize the lateral and vertical integration movement control of the electric automobile to further improve the operating stability of the electric automobile; the invention has stronger electric automobile on parameters and structural changes of the motor system.

Description

technical field [0001] The invention relates to the technical fields of electrics, motors and electric vehicles, in particular to a permanent magnet motor and a control method thereof, which are suitable for direct drive fields such as electric vehicles and ship propellers. Background technique [0002] In recent years, the multi-wheel-hub independent drive technology has emerged and developed rapidly in the field of electric vehicles, that is, multiple motors are installed in each wheel of the electric vehicle, and each motor is individually controlled to directly drive the rotation of the wheel hub. This multi-hub independent drive not only saves the traditional clutch, gearbox, final drive and differential, but also can intelligently control the electronic differential of the electric wheel, which greatly simplifies the structure of the whole vehicle and has the advantages of improving transmission efficiency, The advantages of saving space and flexible control have becom...

AI Technical Summary

Problems solved by technology

In the process of motion control, since the coefficients of the center of mass side slip angle β and yaw rate γ of the electric vehicle contain the longitudinal velocity v x , so the longitudinal velocity v is often x As a constant, the longitudinal motion control of the electric vehicle is ignored and the simplified lateral motion model is a linear time-varying system; while the actual situation is: the longitudinal velocity v of the vehicle x is time-varying, therefore, in order to further improve the operating stability of electric vehicles, it is necessary to adjust the center of mass side slip angle, yaw rate γ and longitudinal velocity v x Control at the same time to realize the horizontal and vertical integrated motion control of electric vehicles, and the integrated motion model of electric vehicles is a highly nonlinear and strongly coupled system. Conventional control is used for this highly nonlinear and strongly coupled system The method cannot obtain good control effect

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