42 results about "Fault tolerant control system" patented technology

The invention relates to the technical field of elevator control and fault diagnosis, and discloses an elevator inverter fault pre-diagnosis and fault-tolerant control system and method based on digital twinning, and the system comprises a high-fidelity digital twinning body building module which is used for building a digital twinning body of an elevator inverter, the digital twin integrates an electric-thermal-stress coupling model, a device-level aging model, a parasitic parameter influence model and a driving circuit and protection logic model; wherein the electric-thermal-stress coupling model is used for simulating loss, junction temperature fluctuation and thermal stress circulation of a power device, and the device-level aging model is used for representing a time-varying degradation rule of device parameters. Through deep fusion of a digital twin technology, fault diagnosis and fault-tolerant control, a closed-loop system of'perception-pre-diagnosis-decision-control 'is constructed, the safety, reliability and economical efficiency of the elevator inverter are comprehensively improved, and the method has important significance in promoting transformation of the elevator industry to intelligent and unmanned maintenance.

Disclosed are an online fault identification method for a current sensor, a diagnosis apparatus, and a fault-tolerant control system, relating to the technical field of diagnosis of faults of current sensors. The method includes defining a fault of the current sensor, and setting a corresponding label; then simulating a motor drive system, so as to obtain operation data in a normal mode and a fault mode, and making a data set; designing a neural network, and performing optimization processing on the neural network through the data set, so as to obtain an intelligent diagnosis model; and finally deploying the intelligent diagnosis model in an edge apparatus, so as to perform real-time online diagnosis on the fault of the current sensor; where the fault of the current sensor includes a saturation fault and a noise fault.

The invention discloses an open-phase self-fault-tolerant control method for a phase-shift-free dual three-phase permanent magnet synchronous motor. The method can automatically adjust a current distribution relation in the case of an open-phase fault and suppress torque pulsation in combination with neutral point voltage compensation. Comprising the following steps: driving two pairs of three-phase winding modules of the phase-shift-free DTP-PMSM in parallel by adopting two two-level three-phase voltage source inverters, and providing a mathematical model of the motor; current distribution is automatically adjusted; compensating the voltage of the neutral point, and calculating the offset of the fault module; the current is redistributed to suppress the torque ripple after the fault, and the secondary oblique wave component generated by the phase failure fault is eliminated; a current loop controller is improved through dead-beat predictive control; the speed ring controller is optimally designed into an improved sliding mode controller; an improved double-loop controller system is formed by combining improved sliding mode control and dead-beat prediction control, high-gain parameters are set to improve the dynamic response performance of the system, and a new self-fault-tolerant control system is formed.

The invention provides a DC Buck converter voltage and current sensor fault-tolerant control system, which comprises the following steps: establishing a time-varying state space model of a DC Buck converter, and dynamically reconstructing a parameter matrix by the time-varying state space model according to the real-time change of a duty ratio; the time-varying augmentation fault estimator is used for monitoring faults of a voltage sensor and a current sensor in real time, the fault estimator is implemented through a model reference adaptive filter, a Buck converter is adopted to construct a reference model in a healthy state, and efficient real-time diagnosis and correction can be achieved through the faults of the voltage sensor and the current sensor of the Buck converter. And various types of sensor faults such as a jump fault, an offset fault, a stuck fault, a high-frequency fault and a gap fault can be effectively estimated. For measurement distortion of the voltage sensor and the current sensor, the fault estimator can provide comprehensive evaluation information of fault types and fault severity.

The invention discloses a nonlinear PID control method based on intelligent element driving and a fault-tolerant control system thereof, and belongs to the technical field of intelligent control. According to the method, three behavior mapping mechanisms of punishment, memory and prediction are introduced, a traditional PID controller structure is expanded, a compound error signal is constructed, and a dual-channel control strategy of instinct response and learning response is designed. The controller provided by the invention has adaptive gain adjustment capability, a dynamic adjustment law is constructed in combination with a Lyapunov stability theory, and robust control without model information is realized. Meanwhile, a fault-tolerant mechanism is provided for correcting control signal input by considering the situation of performance degradation of an actual actuator, so that the stability and tracking precision of a control system under non-ideal conditions are improved. The control method is suitable for complex nonlinear object control scenes such as underwater robots, mobile robots and parallel Delta robots.

The invention discloses a non-linear non-strict feedback multi-agent system fixed time fault-tolerant control system, and belongs to the technical field of agent system cooperative control. Comprising a multi-agent system model, a coordinate transformation and command filtering module, an error compensation signal module, a backstepping recursion module, a neural network module, an adaptive law module and an adaptive fault-tolerant controller module. The method is used for compensating the influence of sensor faults on system consistency and ensuring that the system converges within fixed time, so that when the system has sensor deviation, gain and other faults, the system can still realize output consistent tracking within a predetermined time upper limit irrelevant to an initial state, the reliability and safety of the system are remarkably improved, and the system reliability and safety are improved. The technical problems of state feedback information distortion and system cooperation precision and stability reduction caused by sensor faults of the intelligent agent in the prior art are solved.

The invention discloses a fault-tolerant control system and method for a high-resistance connection fault of a three-phase permanent magnet synchronous motor, and belongs to the field of synchronous motor control, the fault-tolerant control system comprises a rotating speed loop control module, a current loop control module and an SVPWM modulation module, the rotating speed loop control module comprises an encoder and a resonant sliding mode controller, and the rotating speed loop control module is used for obtaining a target current component; the current loop control module is used for generating a voltage control signal based on a current difference value between the target current component and the corresponding real-time current component; the SVPWM modulation module is used for driving the to-be-monitored three-phase permanent magnet synchronous motor to operate based on the generated voltage control signal. According to the fault-tolerant control system and method for the high-resistance connection fault of the three-phase permanent magnet synchronous motor, the resonant sliding mode controller is adopted in the rotating speed loop, the self-adaptive notch filter is introduced into the current loop, and the torque ripple and the rotating speed fluctuation of the three-phase permanent magnet synchronous motor under the high-resistance connection fault can be effectively inhibited without additional hardware, so that the fault tolerance of the high-resistance connection fault of the three-phase permanent magnet synchronous motor is improved. And the fault-tolerant performance and the operation stability of the motor are improved.

The invention relates to a hybrid eVTOL energy optimization management and fault-tolerant control system. The hybrid eVTOL energy optimization management and fault-tolerant control system comprises a data sensing layer, an upper macroscopic decision-making layer, a lower rule implementation layer, a fault-tolerant control layer and a final actuator layer. The data sensing layer preprocesses sensor data; the upper macroscopic decision-making layer and the lower rule implementation layer are used for realizing energy optimization management based on sensor data; the fault-tolerant control layer affects the decision-making layer to realize fault-tolerant control through fault diagnosis and fault-tolerant arbitration; and finally, the control instruction is sent to the actuator layer. The system aims at achieving optimal and reliable energy control of a hybrid power system under the complex flight working condition, improving the dynamic response speed and the multi-target optimization capacity of an energy management system, enhancing the survivability of the system under key component faults and ensuring manned safety, is particularly important for manned eVTOL, and has wide application prospects.

The invention relates to a fault-tolerant control system for a current sensor of a dual-port motor direct-current power generation system. The fault-tolerant control system comprises a brushless dual-port motor, a current sensor, a control winding current reduced-order observer, a power winding current reduced-order observer and a fault-tolerant control module, the control winding current reduced order observer and the power winding current reduced order observer are respectively used for observing the current state of the control winding and the current state of the power winding in real time; current observation values provided by the control winding current reduced-order observer and the power winding current reduced-order observer are used for replacing measured values of the fault sensor, and then fault-tolerant control of the system is achieved through the fault-tolerant control module. According to the invention, real-time observation of the current state of the system is realized; and the stability, the reliability and the fault-tolerant capability of the system are improved.

The application provides a model prediction-based grid-connected converter fault-tolerant control system and method, and belongs to the technical field of converter control, and comprises the following steps: determining a fault device in a fault phase of a grid-connected converter based on measured grid-connected converter alternating current side current and PCC point current; after confirming that a power device fault occurs in a bridge arm of a certain phase of the grid-connected converter, a direct current side capacitor sharing type fault-tolerant control algorithm is put into operation, and the gate signals of all power devices of the fault bridge arm are blocked, and the direct current side capacitor replaces the fault bridge arm to support the controllable operation of the converter.

The invention discloses an integrated wiring harness crimping fault-tolerant control system in a robot processing line, and relates to the technical field of intelligent manufacturing and quality detection of wiring harnesses, and the system comprises a detection module which comprises a miniature high-precision detection device arranged at a crimping station and a miniature high-precision detection device arranged at an assembling station, the data acquisition module is used for respectively acquiring on-resistance data and voltage-withstanding data of the wire harness and generating an electrical performance data set after the wire harness is processed, the data identifier generation module is used for generating a data identifier according to the electrical performance data set, and the data identifier comprises a processing batch number, a crimping station number and an assembly station number of the wire harness. Obtaining an identified electrical performance data set; according to the integrated wire harness crimping fault-tolerant control system in the robot processing line, automatic detection, positioning and sorting of abnormal electrical performance of wire harnesses are realized, the production efficiency and the quality control level are improved, manual intervention is reduced, and an intelligent solution is provided for wire harness manufacturing.

Fault-tolerant control system that includes: a process control system workstation that is effectively connected to a first network; a fault-tolerant safety controller that is effectively connected to a second network; an interface between the process control workstation and the fault-tolerant safety controller, wherein the interface includes: a process control module that is effectively connected to the first network; a security control module that is effectively connected to a second network; and a field device system integration module for communicating safety information from the safety control module to the process control module; wherein the process control module, the safety control module and the field device system integration module are arranged together on a network interface card, characterized in that the fault-tolerant control system further comprises a three-port switch arranged on the network interface card, wherein the three-port switch is configured to communicate with the safety control module and the field device system integration module via a selected connection between them, wherein the selected connection maintains a functional and physical separation between the first network and the second network.

The application discloses a predefined time fault-tolerant control method for a rigid spacecraft system and relates to the technical field of aerospace flight control, and comprises the following steps: S1, a kinematics and dynamics model of a fault-tolerant control system of a rigid spacecraft attitude tracking error is established, and system states and control parameters are initialized; S2, a non-singular predefined time sliding mode surface is designed based on an attitude error tracking control system of the rigid spacecraft; and S3, a non-singular adaptive fault-tolerant predefined time controller is designed. The application designs a predefined time preset performance function and a non-singular adaptive fault-tolerant predefined time control method, effectively solves a potential chattering problem in a controller design process, guarantees the steady-state performance and state constraints of the attitude tracking error and guarantees the predefined time convergence of the system in the case that the controller fault, inertia uncertainty and external disturbance exist simultaneously.

The invention relates to the field of permanent magnet synchronous motor control, and discloses a system for improving average torque under fault-tolerant control of double three-phase motors and application, the system comprises a six-phase eight-bridge-arm inverter, and a first bridge arm n and a second bridge arm n are newly added on the basis of a standard six-phase six-bridge-arm topology; the output end of the first bridge arm n is connected with a neutral point N of a first set of three-phase windings of the dual-three-phase motor, and the output end of the second bridge arm n is connected with a neutral point N of a second set of three-phase windings; and the control unit is configured to inject a zero input voltage signal into the newly added first bridge arm n and the second bridge arm n, and generate a bridge arm driving signal by comparing the zero input voltage signal with a triangular modulation wave. The method can solve the problems of overlarge average torque attenuation or capacitor voltage fluctuation, high system current harmonic rate and low direct current utilization rate during fault-tolerant control of an existing dual three-phase motor fault-tolerant control system.

This invention discloses a learning-based fault-tolerant control method and system for quantifiable performance of nonlinear systems, belonging to the field of automatic control technology. The method designs a learning-based fault-tolerant control algorithm that embeds an RBF network to compensate for fault dynamics when a fault occurs. Based on deterministic learning theory, an RBF network is constructed by setting neurons along a desired reference trajectory. Secondly, by analyzing the convergence characteristics of the learning-tolerant control system through sampled data, a detailed quantitative analysis of the learning accuracy and learning speed of the proposed learning-based fault-tolerant control method is performed, and calculation formulas for learning accuracy and learning speed are given. This invention establishes quantitative expressions for learning speed and learning accuracy through theoretical derivation, realizing quantitative analysis and pre-setting of fault-tolerant control performance, and achieving quantitative controllability of learning speed and approximation accuracy while ensuring the closed-loop stability of the system.

The invention relates to the technical field of aircraft autopilot and fault-tolerant control, in particular to a small aircraft autopilot error-tolerant control system which comprises a state and fault joint estimation module used for obtaining a sensor measurement value and a final actuator instruction vector at the previous moment, generating a flight state estimation value at the current moment and sending the flight state estimation value to a fault-tolerant control module; estimating estimation values of a covariance matrix and a health parameter vector by a state; the control efficiency real-time evaluation module is used for generating a real-time effective control distribution matrix and a control distribution effectiveness index; the collaborative optimization decision module is used for solving the optimized executor instruction vector and the updated Kalman filter process noise covariance matrix; the actuator instruction interface and safety verification module is used for feeding back the final actuator instruction vector to the state and fault joint estimation module and the collaborative optimization decision module; according to the system, smooth self-adaptive fault tolerance of progressive faults is realized, and the flight stability is improved.

The application discloses a T-type three-level model predictive fault-tolerant control method, which is applied to a fault-tolerant control system of an inverter. Firstly, in order to make the T-type three-level inverter normally operate when open-circuit faults occur in horizontal switch tubes, the application proposes to use a duty cycle thought to synthesize a target vector in a missing vector range, so that the missing vector can be compensated, the total harmonic distortion (THD) can be reduced, and the switching frequency is fixed. Moreover, the calculation amount is reduced through the thought of zero-error control. Meanwhile, a method of controlling the midpoint potential balance according to the current flow direction and a joining factor rho is used. The midpoint potential is controlled while the reference current is accurately tracked, the algorithm is simplified, and the inverter is ensured to normally operate in the case of horizontal switch faults. The method has the technical advantages of simple structure, small calculation amount and easy realization, is applied to an inverter control system, has the advantages of fast system dynamic response, strong robustness, reduced THD and reduced algorithm time consumption.

A full-speed-domain dual-mode redundancy fault-tolerant control method for a permanent magnet synchronous motor of an electric vehicle is characterized by comprising the steps that S1, a full-speed-domain dual-mode redundancy fault-tolerant control system of the permanent magnet synchronous motor is constructed; s2, a weighted switching module obtains the motor speed omega; s3a: when omega < lt >; when [omega] 1, a high-frequency injection module injects a dynamic amplitude high-frequency square wave signal to a d axis according to a load working condition, and extracts a rotor position in a zero low-speed domain; s3b: when [omega] gt; when omega is 2, the sliding mode observer module estimates the position of the rotor in a medium-high speed domain based on an improved super-spiral sliding mode algorithm of an adaptive inductance parameter; s3c, when omega belongs to [omega 1, omega 2], a weighted switching module performs dynamic weight distribution on the rotor positions from the high-frequency injection module and the sliding mode observer module according to the motor speed omega, and comprehensively extracts the motor rotor position; and S4, the motor driving module realizes full-speed domain control of the permanent magnet synchronous motor according to the position of the motor rotor. The method has the advantages that full-speed-domain seamless switching control can be achieved when the encoder breaks down.

The invention relates to the technical field of mobile robot control, in particular to an intelligent power plant inspection robot sensor fault tolerance control system, which is characterized in that a motion model construction module constructs a motion model; the disturbance observer design module defines an observation error and designs a disturbance observer, and the disturbance observer performs feedback adjustment by combining the observation error on the basis of the motion model; the augmentation modeling and self-adaptive sensor fault observation module is used for constructing an augmentation system model; designing an adaptive sensor fault observer based on the augmented system model; by means of an adaptive law, continuously optimizing the compensation amount for the interference observation error, and automatically counteracting the error generated in the interference estimation process; the fault-tolerant controller design module defines a tracking error between an actual track and an expected inspection track of the robot, designs a generalized sliding mode surface and a control law, and accelerates convergence of the sliding mode surface and reduces buffeting in combination with an exponential reaching law and a variable-speed reaching law.

The application relates to a fault-tolerant control system and method for improving the driving safety of a heavy multi-axle steering vehicle, which comprises a fault diagnosis module for receiving wheel angle information of the vehicle output and judging whether the steering wheel is stuck; an upper control module for calculating additional lateral force and additional yaw moment required for maintaining the stability of the vehicle by using an adaptive sliding mode control algorithm when the steering wheel is stuck; a lower control module for optimizing the distribution of tire lateral force of non-fault wheels according to the additional force and moment obtained by the upper control module; and a fault-tolerant control module for solving a fault-tolerant feasible region of tire force after the fault occurs, judging whether the optimized tire lateral force is within the range of the fault-tolerant feasible region, and selecting the optimal fault-tolerant controller for different failure modes to perform fault-tolerant control on the fault vehicle according to the judgment result. The system and method are favorable for improving the trajectory tracking accuracy and yaw stability of the heavy multi-axle vehicle when the steering wheel is stuck.

The invention discloses a multi-heater cooperative and hierarchical fault-tolerant control system and method, and the system comprises a sensor unit which is used for collecting an outlet water temperature signal and a flow signal; the actuator unit comprises at least two paths of heaters capable of independently performing power modulation; the main control unit is in communication connection with the sensor unit and the actuator unit, collects and verifies signals of the sensor unit, and performs data validity judgment; on the basis of the data validity judgment result, a partition self-adaptive control strategy is adopted to calculate the total power requirement, short-term trend prediction is conducted on the temperature data in the short time period, and feed-forward compensation or a back-to-conservative strategy is selectively applied according to the prediction validity judgment result; distributing the total power demand to each path of heater, wherein the distribution is based on an efficiency priority principle and a service life balance principle at the same time; according to the system, the response speed and the steady state are improved, overshoot energy consumption is reduced through feedforward, service life balance is improved, and safety and controllability are achieved.

The invention discloses a sensor signal active fault-tolerant control system for a strong electromagnetic pulse environment, and belongs to the technical field of digital control fault tolerance. The system comprises a preprocessing module, a signal identification module, a pseudo-clustering separation module and a signal reconstruction module which are connected in sequence. The preprocessing module is used for performing FIR low-pass filtering on the original sensor signal; the signal identification module generates an abnormal sign through sliding window difference and energy abrupt change monitoring; the pseudo-clustering separation module performs pseudo-clustering on the continuous abnormal marks through a finite-state machine, and outputs interference section masks; and the signal reconstruction module carries out signal reconstruction on the interference section by adopting a local autoregression prediction model based on the mask. According to the scheme, a sensor signal distorted due to strong electromagnetic pulse interference can be efficiently recognized and reconstructed in real time, the reliability and robustness of an aero-engine and other digital control systems in a complex electromagnetic environment are remarkably improved, and the method is particularly suitable for FPGA platform implementation.

The invention discloses an electric vehicle PMSM active fault-tolerant control method based on multi-boundary constraint prediction, which is applied to an electric vehicle PMSM active fault-tolerant control system, and comprises the following steps: a data acquisition unit acquires operation data at a preset sampling rate by using a sensor array; the operation data comprises three-phase current, direct-current bus current and bus voltage of the inverter, temperature of a stator winding in the permanent magnet synchronous motor and a rotary transformer signal of a motor shaft; the main control decision-making unit constructs a multi-dimensional safety boundary model according to the operation data, and further predicts an overcurrent risk by using a three-phase current, predicts an over-temperature risk and a demagnetization risk by using a temperature of a stator winding, predicts a sensor failure risk by using a rotary transformer signal, and predicts a short-circuit risk according to the three-phase current and a DC bus current; and the main control decision-making unit carries out active fault-tolerant control according to different predicted risks. According to the invention, by constructing the multi-dimensional safety boundary model, early comprehensive risk prediction can be carried out before a fault occurs.

The invention discloses a phase sequence fault-tolerant control system and method with overvoltage and undervoltage protection. The phase sequence fault-tolerant control system with overvoltage and undervoltage protection comprises a voltage sampling module, a control module and an execution module. The voltage sampling module collects a first phase power supply voltage, a second phase power supply voltage and a third phase power supply voltage of a three-phase compressor power supply line. The control module obtains a first-phase power supply voltage group, a second-phase power supply voltage group and a third-phase power supply voltage group containing at least one piece of voltage cycle data according to the first-phase power supply voltage, the second-phase power supply voltage and the third-phase power supply voltage, and accordingly judges whether overvoltage and undervoltage and / or phase sequence errors occur in the three-phase compressor or not; the execution module comprises a three-phase alternating current contactor and a four-pole alternating current contactor, if the control module judges that the three-phase compressor is over-voltage and under-voltage, the control module controls the three-phase alternating current contactor to cut off a power supply of the three-phase compressor, and if the control module judges that the three-phase compressor is in phase sequence error, the control module controls the four-pole alternating current contactor to dynamically switch the phase sequence.

The invention discloses a permanent magnet synchronous motor broken tooth fault diagnosis and fault-tolerant control system based on multi-source signals in the technical field of automatic control and adjustment. The system comprises a multi-source signal acquisition module, a fault diagnosis module, a disturbance estimation module and a fault-tolerant control law module. The multi-source signal acquisition module acquires a real-time operation signal; the fault diagnosis module processes the real-time operation signal and extracts a fault feature signal, and the fault diagnosis module adopts a coupling broken tooth fault model to calculate the fault feature signal; the disturbance estimation module obtains an estimated value of total disturbance based on the fault characteristic signal; the fault-tolerant control law module generates a permanent magnet synchronous motor system control instruction based on the estimated value of the total disturbance; according to the method, an FMAESO fault-tolerant control strategy is provided, disturbance and specific faults are subjected to integrated estimation and compensation, and an independent diagnosis unit is not needed; the stability and the control precision of the motor in wide speed range operation are improved, the robustness is high, and the system development period is shortened.

The present invention provides a remote-controlled unmanned vessel heading fault-tolerant control system, comprising an execution module, a receiving module, a detection module, a transmitting module, an analysis module, an input module and a formation module, wherein the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, the detection module is used to detect the navigation status information of the unmanned vessel, the transmitting module is used to transmit instruction information, the input module is used to input target information, the analysis module calculates instruction parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel; the analysis module of the system can analyze the navigation data of the unmanned vessel and adjust the heading when it is easy to leave the fault-tolerant area, thereby reducing the frequency of adjustment and making the navigation smoother.

The invention provides a fault-tolerant control system and method for a multiphase permanent magnet synchronous motor, relates to the technical field of motor control, and solves the limitation of the prior art on reliability, fault-tolerant performance and algorithm complexity. A fault confidence coefficient index is generated by fusing static and dynamic characteristics of the current, an active and robust fault diagnosis closed loop is constructed, and the reliability of a real working condition is improved; the method is not suitable for compromised degraded operation, but introduces a torque ripple suppression factor to optimize a current instruction, and combines a dynamic zero-sequence voltage component injection technology to maximize a bus voltage utilization rate, thereby ensuring high operation quality of all working conditions after a fault; the self-adaptive bandwidth harmonic suppression controller is adopted, the resonance bandwidth is adjusted on line through a lightweight bandwidth broadening factor, the calculation burden is remarkably reduced, and excellent engineering adaptability is shown by means of adjustable parameters.

The invention discloses an automatic throttling system pressure sensor fault detection and fault-tolerant control system, which belongs to the technical field of oil and gas drilling automatic control, and comprises a pressure acquisition unit, an MSSDAE-RBiLSTM prediction module, an SPRT fault detection module, an ADRPID control module and a distributed control unit. The modules are in communication connection, the pressure acquisition unit acquires drilling mud inlet pressure data, the MSSDAE-RBiLSTM module inputs set pressure equivalence to output a pressure predicted value after training based on a field real sample, the SPRT module calculates a residual error between the predicted value and a measured value, a log-likelihood ratio threshold value is compared to judge a fault, and the fault is sent to the MSSDAE-RBiLSTM module. And the distributed control unit switches control input according to a fault result to realize fault-tolerant control. According to the system, the pressure prediction stability is improved, rapid fault response is achieved, pressure stability is guaranteed, extra hardware redundancy is not needed, and the problem that a traditional method is insufficient in adaptability to complex drilling working conditions is solved.

The invention relates to a vehicle distributed driving fault-tolerant control system and method based on safety certification, four motor controllers are adopted, and one motor controller controls one hub motor, so that driving of the four motors in a parallel scheme is realized, the power of the driving motors can be reduced, the line loss can be reduced, and the service life of the motors is prolonged. When a single motor or even two motors of the vehicle break down, it can be ensured that the vehicle breaks down in dangerous areas such as vital communication lines, and accidents and traffic jam risks are reduced. Meanwhile, through coordination and cooperation of a whole vehicle controller and a main motor controller, the whole vehicle controller carries out real-time speed adjustment control on each motor according to data obtained by an information collector, and the main motor controller converts acceleration and steering instructions into target rotating speed instructions of four wheels; and the signal is output to the corresponding motor controller for execution through the bus, so that the driving comfort is remarkably improved, and the dependence on the driving skill of a driver is reduced.

The invention discloses a power switch short-circuit fault-tolerant control system suitable for an STC converter, and the system comprises an STC power main topology with redundant cells and power cells, a drive circuit, an SCF detection circuit, and a digital controller, and aims at solving the technical problem that there is no effective detection, isolation, and compensation method for a power switch short-circuit fault of a modularized STC converter. The invention provides a fault-tolerant control system. An SCF detection circuit detects a fault by judging whether the midpoint voltage of each cellular bridge arm in an STC power main topology jumps normally or not; and the digital controller adjusts the working state of each cell according to the fault detection result, so that the fault cell is separated from the system, and the redundant cell is started to replace the fault cell to work. According to the fault-tolerant control system provided by the invention, the power supply function of the modular STC converter can be recovered after the short-circuit fault of the power switch occurs under the condition of not adding additional devices, and the reliability of a power supply system is improved.