Hub electric automobile direct yawing moment control method with fault tolerance function

Abstract

The invention discloses a hub electric automobile direct yawing moment control method with a fault tolerance function. The method mainly includes the steps that a linear two-degree-of-freedom model isestablished, the ideal yaw velocity and the ideal mass center side slip angle of a vehicle are obtained, a state observer is established, and the actual mass center side slip angle of the vehicle isestimated; a seven-degree-of-freedom vehicle dynamic model is established as a control object, a fault factor is introduced, and a vehicle dynamic model with a drive motor fault is established; basedon an adaptive terminal sliding mode theory and a PI control theory, an upper layer controller is designed, and a virtual control command is obtained; and based on fault information and a moment optimal distribution method, a fault tolerance lower layer controller is designed, and the traveling performance and safety performance of the vehicle are guaranteed after the fault occurs. The proposed method guarantees the traveling safety after the fault occurs, under the condition that the executor fault exists or not, the traveling stability of the vehicle can be guaranteed, and the traveling stability range is enlarged. Meanwhile, the control coordination of four wheels is improved, and the response performance of the fault vehicle is improved.

Description

technical field [0001] The invention relates to the control strategy of the direct yaw moment of the electric vehicle with fault tolerance, in particular to the design of the terminal sliding mode controller and the design of the fault tolerance distribution method. Background technique [0002] Automobiles are an integral part of human society, but the rapid development of the automobile industry has also brought a series of problems such as environmental pollution, traffic accidents, and energy crises. In order to improve this situation, the development of new energy vehicles has become an inevitable choice. Therefore, distributed drive electric vehicles (In-wheel motor Electric, IEV) have received widespread attention from researchers because of their advantages such as fast response, short transmission chain, high efficiency transmission, and compact structure. IEV usually installs the driving motor directly inside or near the driving wheel to directly provide power to ...

AI Technical Summary

Problems solved by technology

Therefore, under complex working conditions, it is sometimes difficult to achieve satisfactory control results based on simple direct yaw moment control

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