Hub electric automobile direct yawing moment control method with fault tolerance function
A yaw moment, electric vehicle technology, applied in electric vehicles, control drive, power management and other directions, can solve problems such as difficulty in obtaining control effects, and achieve the effect of ensuring stable operation
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[0093] The invention provides a direct yaw moment control method for a hub electric vehicle with fault tolerance function. In order to make the objectives, technical solutions and effects of the present invention clearer and clearer, the present invention will be further explained below in conjunction with the drawings.
[0094] figure 1 Shown is the block diagram of the various modules of the in-wheel electric vehicle control system of the present invention. It includes 1. a linear two-degree-of-freedom vehicle model, 2. Carsim software (a seven-degree-of-freedom vehicle model with failure), 3. a side slip angle of the center of mass The state observer module of 4, DYC controller module, 5, PI controller module, 6, the actuator failure module, 7, the torque distribution module. figure 2 It is a detailed closed-loop system diagram built according to each module. To perform fault-tolerant control under fault conditions, the present invention is as follows image 3 As shown, a la...
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