轮毂直驱电动汽车速度传感器的故障容错控制

doi:10.3969/j.issn.1674-8484.2022.01.007

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (1): 78-85.DOI: 10.3969/j.issn.1674-8484.2022.01.007

轮毂直驱电动汽车速度传感器的故障容错控制

邵锦才(), 何致远(), 王子辉()

浙江科技学院自动化与电气工程学院, 杭州 310023,中国

收稿日期:2021-07-23 修回日期:2021-09-09 出版日期:2022-03-31 发布日期:2022-04-02
通讯作者: 王子辉
作者简介:*王子辉,副教授。E-mail：113035@zust.edu.cn。
邵锦才(1996–),男(汉族),杭州,硕士研究生。E-mail：221901852096@zust.edu.cn
何致远(1961–),男(汉族),杭州,教授。E-mail：hezhiyuan@zust.edu.cn。
基金资助:
浙江省基础公益研究计划项目(LGG22E070006);浙江省市场监督管理局科研计划项目(ZC2021B098);浙江省市场监督管理局”雏鹰计划”培育项目(CY2022358)

Fault-tolerant control of speed sensors for direct drive in-wheel electric vehicles

SHAO Jincai(), HE Zhiyuan(), WANG Zihui()

School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, Hangzhou 310023,China

Received:2021-07-23 Revised:2021-09-09 Online:2022-03-31 Published:2022-04-02
Contact: WANG Zihui

摘要/Abstract

摘要：

提出了一种基于轮毂电机无位置传感器估测算法的故障诊断及容错控制策略,以便在速度传感器故障时,保证电动汽车操控稳定性。建立了3自由度车辆动力学模型,分析了速度传感器故障对车辆动力学性能的影响。采用阈值特征法诊断传感器故障及其类型,利用磁链观测器无感算法实现故障容错控制,设计了功率角渐进补偿的状态切换,来实现驱动转矩的平滑过渡。通过Matlab-CarSim仿真平台,验证了直行工况及双移线工况下的速度传感器故障容错控制。结果表明：在设定工况下,该控制策略可在3 ms内恢复并维持100%电机转矩输出,消除车体0.77 (°)/s的横摆运动角速度,从而保证车辆行驶稳定性。

关键词: 电动汽车, 直驱轮毂电机, 速度传感器, 故障诊断, 容错控制

Abstract:

A fault-tolerant diagnosis and control strategy was proposed for direct drive in-wheel electric vehicle based on sensorless algorithm to improve the vehicle driving performance and the handling stability when the speed sensor fails. A three-degree-of-freedom vehicle dynamics model was established to analyze the influences of speed sensor fault on the vehicle dynamic performances. A thresholding characteristic method was applied for diagnosing sensor failure and its type, and a sensorless algorithm was used based on the flux observer to estimate the rotor position angle. A state-switching method was designed based on power angle progressive compensation for smooth torque transition. The speed sensor fault-tolerant control processes under straightforward test condition and double-lane change test condition were verified by Matlab-CarSim co-simulation platform. The results show that the proposed control strategy restores and maintains 100% motor torque output within 3 ms, and eliminate the yaw angular velocity of 0.77 (°)/s, and therefore, improves vehicle driving performances.

Key words: electric vehicles (EV), direct drive in-wheel motors, speed sensors, fault diagnosis, fault tolerant control

中图分类号:

U461

邵锦才, 何致远, 王子辉. 轮毂直驱电动汽车速度传感器的故障容错控制[J]. 汽车安全与节能学报, 2022, 13(1): 78-85.

SHAO Jincai, HE Zhiyuan, WANG Zihui. Fault-tolerant control of speed sensors for direct drive in-wheel electric vehicles[J]. Journal of Automotive Safety and Energy, 2022, 13(1): 78-85.

图/表 11

图1 三自由度电动汽车动力学模型

图2 轮毂电机转矩闭环控制系统

图3 误差角引起的转矩电流损失

图4 永磁轮毂电机相量图及误差分析

图5 转子位置角补偿过程

图6 故障诊断及容错控制流程框图

图7 联合仿真系统结构图

连续输出功率, P	50 kW
最高转速, n	1 200 r·min^-1
定子电阻, R_s	87 mΩ
定子电感, L_s	1.03 mH
簧下惯量, J	1.0 kg·m²
极对数, P_n	10 对
车辆整备质量, m	1.11 t
横摆转动惯量, I_z	1.343 t·m^²
质心到前轴距离, l_a	1.040 m
质心到后轴距离, l_b	1.560 m
车辆轮距, l_d	1.480 m
车轮滚动半径, R	0.298 m

表1 轮毂电机参数与车辆基本参数

图8 偏差故障工况下系统各输出参数

图9 失效故障工况下系统各输出参数

图10 双移线工况下系统各输出参数

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轮毂直驱电动汽车速度传感器的故障容错控制

Fault-tolerant control of speed sensors for direct drive in-wheel electric vehicles

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