Four-wheel hub motor fault-tolerant control system based on SQP algorithm

Abstract

The invention discloses a four-wheel hub motor fault-tolerant control system based on an SQP algorithm, and the system comprises a motor state monitoring assembly module, a fault judgment assembly module, a whole vehicle control module, a fault-tolerant control secondary distribution module, a drive assembly module, and an emergency stop module. According to the invention, when one or more hub motors break down, the output torques and the movement directions of the four hub motors are changed in real time, the stability of operation of a vehicle under different working conditions can be maintained, a double-layer control strategy is adopted, an SQP algorithm nonlinear constraint optimization problem is introduced and converted into a quadratic programming problem, and the motor torques are optimized and redistributed. The system has the advantages of global convergence, local super-linear convergence and high calculation efficiency, a fuzzy controller is constructed by taking a difference value Te between a torque expected value and a torque actual value and a change rate Tec of the difference value Te as input variables and a motor operation state factor 1 as an output variable, and active detection of motor faults is realized.

Description

technical field [0001] The invention relates to the technical field of four-wheel hub-driven electric vehicles, in particular to a fault-tolerant control system for four-wheel hub motors based on the SQP algorithm. Background technique [0002] Each wheel hub motor of a four-wheel drive electric vehicle is independently controllable. When the wheel hub motor fails, if no corresponding countermeasures can be taken, the vehicle may roll over and run off, threatening the safety of drivers and passengers. [0003] The four-wheel drive electric vehicle has the characteristics of independent drive, so the torque distribution of the four wheel hub motors of the vehicle is very important, which is also an important guarantee and factor to ensure the stable operation of the vehicle. Torque distribution control technology is the key to the coordinated control strategy of electric vehicle motors. At present, torque distribution control technology can be divided into two categories: rul...

AI Technical Summary

Problems solved by technology

[0002] Each hub motor of a four-wheel-drive electric vehicle is independently controllable. When the hub motor fails, if no corresponding countermeasures can be taken, the vehicle may roll over or run off, threatening the safety of drivers and passengers.

[0004] Since the rule-based torque distribution has the risk of being unable to cope with complex driving conditions, when the electric drive vehicle enters the failure control condition, the traditional control strategy has the disadvantages that the vertical and horizontal control objectives cannot be met, the driving ability is reduced, and the safety is deteriorated. Greatly reduces the driving safety of four-wheel drive electric vehicles when a motor fails

Images