分布式驱动电动汽车多执行器容错控制研究  

Research on Fault-Tolerant Control of Multi-Actuator for Distributed Drive Electric Vehicles

作　　者：李琴 汤建明 张博远 陈勇 王勇 Li Qin;Tang Jianming;Zhang Boyuan;Chen Yong;Wang Yong(School of Mechanical Engineering,Guangxi University,Nanning 530000;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100080)

机构地区：[1]广西大学机械工程学院,南宁530000 [2]北京理工大学机械与车辆学院,北京100080

出　　处：《汽车工程》2023年第12期2251-2259,共9页Automotive Engineering

基　　金：广西科技计划项目(桂科AD基金23026205)资助。

摘　　要：分布式驱动电动汽车的各轮轮毂电机驱动力矩独立可控,是一个典型的过驱动系统。通过优化各轮驱动力矩分配,可以实现容错控制。本文中以分布式驱动电动汽车为研究对象,针对线控转向系统和轮毂电机多执行器同时失效的轨迹跟踪问题,提出了一种基于差动转向和驱动转矩分配的容错控制方法。该方法采用分层式架构:上层控制器通过模型预测控制方法得到前轮转角,并在转向系统执行器失效时,通过滑模控制方法计算差动转向力矩;下层控制器结合故障诊断信息,基于二次规划算法求解存在驱动电机失效情况的转矩优化分配策略。最后,进行了单执行器失效及多执行器同时失效的仿真实验,结果验证了该容错控制方法的有效性。Distributed drive electric vehicles with independently controllable torque for each wheel hub motor represent a typical over-actuated system.By optimizing the distribution of driving torque among the wheels,fault-tolerant control can be achieved.Taking distributed drive electric vehicles as the research object and focusing on the trajectory-tracking problem in the presence of simultaneous failure of the steer-by-wire system and multiple actuators of the wheel hub motors,a fault-tolerant control method based on differential steering and torque alloca-tion is proposed in this paper.The method employs a hierarchical architecture.In the upper-level controller,the de-sired front-wheel steering angle is obtained using a model predictive control method.When failure occurs in the steering system actuators,a sliding mode control method is utilized to calculate the differential steering torque.In the lower-level controller,the torque optimization allocation strategy for failed drive motors is determined based on quadratic programming algorithms,taking into account of fault diagnosis information.Finally,simulation experi-ments are conducted to evaluate the effectiveness of the proposed fault-tolerant control method under both single ac-tuator failure and multiple actuators failure scenarios.The results validate the effectiveness of the proposed ap-proach.

关 键 词：分布式驱动电动汽车 容错控制 轨迹跟踪 

分 类 号：U469.72[机械工程—车辆工程] U463.6[交通运输工程—载运工具运用工程]