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

Abstract

The invention discloses a method for controlling a vehicle driven by a disc hub motor with a fault-tolerant control function. Firstly, a vehicle dynamics space state equation based on a vehicle dynamics model is established, and then the side slip angle of the vehicle and the steering stiffness of front and rear wheels are calculated. Combined driving state estimation; finally, according to the estimation results, a two-level hierarchical control structure is used to realize the fault-tolerant control of the vehicle. Among them, the upper-level control adopts adaptive sliding film control to determine the yaw moment and vehicle longitudinal force required by vehicle dynamics, and track the demand The lower layer control adopts the optimal allocation algorithm to coordinate the torque distribution between the wheels to achieve the control effect of the upper layer controller. In the case of a turning failure or actuator failure of the vehicle, it can realize the fault-tolerant control of the whole vehicle, ensure safety and stability, and meet the performance requirements of the vehicle as much as possible under the premise of mature handling of the failure.

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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