Diagnosis method for failure fault of distributed hub motor driven vehicle

Abstract

The invention provides a diagnosis and recognition method for a failure fault of a distributed hub motor driven vehicle. According to the movement condition of the distributed hub motor driven vehicle, an inherent sensor of the vehicle is utilized to obtain a state parameter of the vehicle in real time, a vehicle nonlinear observer is designed, based on whole vehicle dynamics analysis and tire dynamics analysis, the actual torque of each hub motor and an expected motor torque sent by a vehicle controller are obtained; by performing ratio analysis on the actual torque of each hub motor and thedesired motor torque, a ratio of the actual torque of the hub motor to the expected motor torque and a rate of change of the ratio at the same moment are obtained; by using a fuzzy diagnosis device, arelationship between the torque ratio and the failure fault is obtained by utilizing a fuzzy rule to judge whether the hub motor has a failure fault. The diagnosis and recognition method can be usedfor effectively recognizing the failure fault of the distributed hub motor driven vehicle, realizing real-time diagnosis and alarm functions on the failure fault, and is used for improving the drivingsafety of the vehicle.

Description

technical field [0001] The invention belongs to the technical field of control of vehicles driven by distributed hub motors, and in particular relates to a method for diagnosing and identifying failures of vehicles driven by distributed hub motors. Background technique [0002] With the rapid development of the automobile industry, new energy vehicles have become the direction for the automobile industry to vigorously develop the mainstream automobile industry. In the development of distributed hub motor drive vehicles in the electric vehicle industry, since the distributed hub motor drive system can independently control the state of each wheel through the vehicle controller, and directly control the torque of the hub motor through the hub motor controller Compared with the traditional centralized vehicle control method, this distributed control method is easier to exert multi-system coupling and coordinated control of the vehicle, and at the same time contributes to the mu...

AI Technical Summary

Problems solved by technology

[0004] However, when the hardware in the vehicle hub motor fails, for example: the hub motor controller is damaged in the communication harness, the harness is not in good contact, the internal magnetism of the hub motor is weakened, and the sensor feedback signal is distorted.

These failures cannot be diagnosed and identified by computer equipment such as the CAN bus, and due to failures such as damage to the wiring harness, the failure signal cannot be transmitted to the vehicle controller through the communication harness. Such failures are difficult to be detected by common fault diagnosis techniques , so it has become an urgent problem to be solved in vehicle fault diagnosis at the present stage

Due to the occurrence of failure faults, the faulty tires cannot receive the torque command from the vehicle controller in real time, resulting in a large deviation between the actual torque of the vehicle tires and the target torque, and the actual torque of each tire of the vehicle will vary. When a large mutation occurs, the vehicle will also experience instability. When the vehicle speed is high, the vehicle will lose stability and cause safety problems.

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