一种分布式驱动电动汽车的驱动系统容错控制策略

• Format: Patent
• Language: Chinese
• Published: 17.06.2022
• Subjects: ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; PERFORMING OPERATIONS; TRANSPORTING; VEHICLES IN GENERAL

本发明公开了一种分布式驱动电动汽车的驱动系统容错控制策略，在已知某个车轮失效的情况下，采用容错控制策略进行车辆的容错控制；上层控制：选取车辆的横摆角速度和质心偏转角作为控制目标，建立失效故障下车辆横摆力矩控制体系，通过基于横摆角速度和质心偏转角进行约束的滑模变结构控制策略，计算得到期望横摆力矩；下层控制：通过滑模变结构控制或者LQR分别实现动力学及稳定性转矩协调优化分配策略，结合期望横摆力矩，计算出车轮力矩的分配，对正常工作的车轮进行力矩重分配，保证车辆的行驶稳定。本发明能对正常工作的车轮进行力矩重分配，最大可能符合预定行车轨迹，避免突发的变化，保证车辆行驶安全和稳定。 The invention discloses a driving system fault-tolerant control strategy of a distribution type driving electronic automobile. Under a condition that one wheel is failed, fault tolerant control on anautomobile is implemented according to the fault-tolerant control strategy; upper layer control refers to that a transverse swinging angle speed and a centroid mass deviation angle of the automobile are adopted as control targets, an automobile transverse swinging moment control system is established in case of a failure fault, and on the basis of a sliding mode variable structure control strategyfor constraint on the basis of the transverse swinging angle speed and the centroid mass deviation angle, an expected transverse swingin