一种基于EKF的DDEV主动容错控制方法  

An Active Fault Tolerant Control Method for DDEV Based on EKF

作　　者：刘平[1] 刘阳 罗洪波 万志松 LIU Ping;LIU Yang;LUO Hong-bo;WAN Zhi-song(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610031,China;Guizhou Highway Engineering Group Co.,Ltd.,Qiangui Investment Company,Guizhou Guiyang 550001,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031 [2]贵州省公路工程集团有限公司黔贵投资公司,贵州贵阳550001

出　　处：《机械设计与制造》2024年第5期301-306,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(51775451)。

摘　　要：分布式驱动电动汽车(DDEV)的行驶稳定性和动力性受电机故障的影响会变差,而驱动系统的容错控制则能够有效改善车辆的行驶稳定性和动力性。为此,针对分布式驱动电动汽车驱动电机,提出了一种主动容错控制方法。首先在Simulink中搭建了包含七个自由度的车辆动力学模型,接着搭建了基于扩展卡尔曼滤波(EKF)的故障观测器,为后文建立的主动容错方法提供故障信息。然后基于滑模控制,搭建了主动容错控制模型,根据故障信息对驱动力矩进行重新分配。最后搭建了Carsim/Simulink联合仿真平台,结果表明,提出的主动容错控制方法能够有效改善车辆在故障状态下的行驶稳定性和动力性。The driving stability and dynamics of distributed drive electric vehicles(DDEV)will become worse due to the influence of motor failures,while the fault-tolerant control of the drive system can effectively improve the driving stability and dynamics of DDEV.For this reason,an active fault-tolerant control method is proposed for the distributed drive electric vehicle drive motor.First,a vehicle dynamics model with seven degrees of freedom was built in Simulink,and then a fault observer based on the ex-tended kalman filter(EKF)was built to provide fault information for the active fault tolerance method established later.Then based on sliding mode control,an active fault-tolerant control model is built,and the driving torque is redistributed according to the fault information.Finally,a Carsim/Simulink co-simulation platform is built.The results show that the proposed active fault-tolerant control method can effectively improve the driving stability and dynamics of DDEV in a fault state.

关 键 词：分布式驱动 电动汽车 故障观测 容错控制 滑模控制 转矩分配 

分 类 号：TH16[机械工程—机械制造及自动化]