分布式电驱动重载车辆复合转向容错控制策略研究  

Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive

作　　者：李军求[1] 陈胜玥 陈建文 杨永喜 李潇汉 Li Junqiu;Chen Shengyue;Chen Jianwen;Yang Yongxi;Li Xiaohan(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;Jianglu Electromechanical Group Co.,Ltd.,Xiangtan 411100)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]江麓机电集团有限公司,湘潭411100

出　　处：《汽车工程》2025年第4期724-733,700,共11页Automotive Engineering

基　　金：国家重点研发计划项目(2021YFB2501801);国家自然科学基金(52072037)资助。

摘　　要：分布式电驱动重载车辆采用转向助力电机和轮端驱动电机差动实现复合转向,通过对多电机协调控制实现多种主动安全控制功能并降低驾驶员操纵负担。针对驱动电机和转向助力电机失效故障带来的行驶安全性问题,本文提出一种包含模式切换和容错转矩分配的容错控制策略。所提模式切换策略依据车辆位姿信息,引入横摆角速度残差函数作为容错模式的切换条件;所提容错转矩分配策略考虑输出冗余和整车稳定性,求解驱动电机和转向助力电机的目标输出转矩。最后,搭建硬件在环仿真平台验证了控制策略的有效性和实时性。Distributed electrically-driven heavy-duty vehicles achieve compound steering through the differential between the steering assist motor and the wheel-end drive motor.By means of coordinated control of multiple motors,various active safety control functions are realized and the driver′s operational burden is reduced.For the driving safety issues brought about by the failure of the drive motor and the steering assist motor,in this paper a fault-tolerant control strategy encompassing mode switching and fault-tolerant torque distribution is proposed.The proposed mode-switching strategy,based on the vehicle pose information,introduces in the yaw rate residual function as the switching condition for the fault-tolerant mode.The proposed fault-tolerant torque distribution strategy takes into account of the output redundancy and the vehicle′s stability to solve for the target output torque of the drive motor and the steering assist motor.Finally,a hardware-in-the-loop simulation platform is established to verify the effectiveness and real-time performance of the control strategy.

关 键 词：分布式驱动 复合转向 执行器失效故障 容错控制 

分 类 号：U463.4[机械工程—车辆工程]