轮毂电机失效下分布式驱动电动汽车主动转向容错控制策略

doi:10.3969/j.issn.1674-8484.2024.04.002

汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (4): 467-476.DOI: 10.3969/j.issn.1674-8484.2024.04.002

轮毂电机失效下分布式驱动电动汽车主动转向容错控制策略

卢彦博¹(), 梁晋豪², 殷国栋¹^,^*(), 冯吉伟¹, 王凡勋¹

1.东南大学，东南大学机械学院，南京，211189，中国
2.新加坡国立大学，土木与环境学院，新加坡，119077，新加坡

收稿日期:2023-11-08 修回日期:2024-06-24 出版日期:2024-08-31 发布日期:2024-09-04
通讯作者: *殷国栋，教授。E-mail：ygd@seu.edu.cn。
作者简介:卢彦博（1995—），男（汉），江苏，博士研究生。E-mail：1012749558@qq.com。
基金资助:
国家杰出青年科学基金(52025121);国家自然科学基金资助项目(51975118);国家资助博士后研究人员计划(GZC20240818)

Fault-tolerant control strategy for active steering of distributed driving electric vehicles under in-wheel motor failure

LU Yanbo¹(), LIANG Jinhao², YIN Guodong¹^,^*(), FENG Jiwei¹, WANG Fanxun¹

1. Southeast University, School of Mechanical Engineering, Nanjing 211189, China
2. National University of Singapore, Department of Civil and Environmental Engineering, Singapore 119077, Singapore

Received:2023-11-08 Revised:2024-06-24 Online:2024-08-31 Published:2024-09-04

摘要/Abstract

摘要：

为提高分布式驱动电动汽车在单轮或单边轮毂电机失效时的稳定性，提出了一种基于事件触发机制的主动转向容错控制策略。设计了基于线性矩阵不等式的故障状态观测器，建立了基于残差评估函数的容错切换机制；采用了Pareto最优理论的分布式模型预测协同控制策略，以实现车辆底盘主动转向系统和横摆力矩控制系统的容错控制最优分配机制。基于Matlab/Simulink软件和CarSim软件在硬件在环平台展开实验。结果表明：当轮毂电机发生恒偏差或变增益故障时，所设计的容错控制算法在低路面附着系数的双移线工况下，横摆角速度跟踪误差降低14.9%，侧向位移跟踪误差降低28.2%。因而，实现了分布式驱动电动汽车在轮毂电机失效下的容错性能和稳定性能。

关键词: 分布式驱动电车, 汽车稳定性, 容错控制策略, 硬件在环平台, 分布式模型预测控制

Abstract:

An active steering fault-tolerant control strategy was proposed based on an event triggering mechanism to improve the stability of distributed driving electric vehicles when a single wheel or single side in-wheel motors failed. A fault state observer based on linear matrix inequalities was designed, and a fault-tolerant switching mechanism based on residual evaluation function was established. The distributed-model predictive cooperative control strategy was adopted based on Pareto optimization theory to realize the optimal distribution mechanism of fault-tolerant control for vehicle chassis active steering system and yaw moment control system. Simulation experiments were carried out on the hardware-in-loop platform based on the integration of the software Matlab/Simulink and the software CarSim. The results show that the yaw rate displacement tracking error is reduced by 14.9%, and the lateral displacement tracking error is reduced by 28.2%, in the case of constant deviation or variable gain fault of in-wheel motor under double lane change condition with high/low road adhesion coefficients. Therefore, the fault tolerance and the stability of distributed driving electric vehicles are realized under the failure of wheel hub motor.

Key words: distributed driving electric vehicles, vehicle stability, fault-tolerant control strategies, hardware-in-loop platform, distributed-model predictive control

中图分类号:

U461.6

卢彦博, 梁晋豪, 殷国栋, 冯吉伟, 王凡勋. 轮毂电机失效下分布式驱动电动汽车主动转向容错控制策略[J]. 汽车安全与节能学报, 2024, 15(4): 467-476.

LU Yanbo, LIANG Jinhao, YIN Guodong, FENG Jiwei, WANG Fanxun. Fault-tolerant control strategy for active steering of distributed driving electric vehicles under in-wheel motor failure[J]. Journal of Automotive Safety and Energy, 2024, 15(4): 467-476.

图/表 6

图1 二自由度车辆动力学模型

图2 分布式驱动电车Fiala轮胎模型

图3 考虑容错切换机制的整体框架图

图4 硬件在环实验台架

图5 高路面附着因数下双移线工况结果

图6 低路面附着因数下双移线工况结果

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轮毂电机失效下分布式驱动电动汽车主动转向容错控制策略

Fault-tolerant control strategy for active steering of distributed driving electric vehicles under in-wheel motor failure

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