Control method for disc-type wheel hub motor-driven vehicle with fault-tolerant control function

Abstract

The invention discloses a disc-type hub motor-driven vehicle control method with a fault-tolerant control function, and the method comprises the steps: firstly building a vehicle dynamics space stateequation based on a vehicle dynamics model, and then carrying out the combined driving state estimation of a vehicle slip angle and the steering rigidity of front and rear wheels; and finally, according to the estimation result, adopting a two-stage hierarchical control structure to achieve fault-tolerant control over the vehicle, wherein self-adaptive sliding mode control is adopted for upper-layer control, yaw moment and vehicle longitudinal force required by vehicle dynamics are decided, and required vehicle motion is tracked. The lower-layer control adopts an optimal distribution algorithmto coordinate torque distribution among all wheels, so that the control effect of the upper-layer controller is realized. Under the condition that a turning fault or an actuator fault happens to thevehicle, fault-tolerant control over the whole vehicle can be achieved, safety and stability are guaranteed, and the performance requirement of the vehicle is met as much as possible on the premise that the fault is maturely processed.

Description

technical field [0001] The invention belongs to the field of complete vehicle control of an electric vehicle driven by a hub motor and the field of vehicle fault-tolerant control, and in particular relates to a control method for a disc-type hub motor driven vehicle with a fault-tolerant control function. Background technique [0002] In the field of electric vehicle technology, in-wheel motor-driven electric vehicles are a relatively important branch. The high power density ironless disc permanent magnet synchronous hub motor has the following advantages: [0003] 1. High power density, the appearance can meet the application of special occasions; 2. The coreless structure has no iron loss and positioning torque, and has obvious advantages in weight, efficiency, heat dissipation performance, etc.; 3. High efficiency, energy saving and environmental protection. [0004] The disc-type in-wheel motor drive vehicle uses multiple in-wheel motors to drive the wheels. The in-whee...

AI Technical Summary

Problems solved by technology

The operating conditions of electric vehicles are complex and changeable, and they may encounter a variety of harsh environments during driving. It is difficult for drivers to overcome such emergencies

Once the disc-type coreless permanent magnet synchronous motor fails, it will directly affect the safety and stability of the vehicle, or affect the driving performance of the vehicle

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