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

doi:10.3969/j.issn.1674-8484.2024.04.002

Abstract

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

CLC Number:

U461.6

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.

Figures/Tables 6

References 23

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