基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略

doi:10.3901/JME.2020.16.227

机械工程学报 ›› 2020, Vol. 56 ›› Issue (16): 227-239.doi: 10.3901/JME.2020.16.227

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基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略

张雷^1,2, 余文³, 王震坡^1,2, 丁晓林^1,2

1. 北京理工大学北京电动车辆协同创新中心北京 100081;
2. 北京理工大学电动车辆国家工程实验室北京 100081;
3. 广州汽车集团股份有限公司汽车工程研究院广州 511434

收稿日期:2019-11-16 修回日期:2020-02-18 出版日期:2020-08-20 发布日期:2020-10-19
通讯作者: 王震坡(通信作者),男,1976年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学理论与控制,车用锂离子动力电池成组理论与技术。E-mail:wangzhenpo@bit.edu.cn
作者简介:张雷,男,1987年出生,博士,副研究员,硕士研究生导师。主要研究方向为车辆动力学理论与控制,电动车辆储能系统管理技术等。E-mail:lei_zhang@bit.edu.cn;余文,男,1996年出生。主要研究方向为四轮轮毂电机驱动电动汽车动力学理论与控制。E-mail:1670901511@qq.com;丁晓林,男,1993年出生,博士研究生。主要研究方向为四轮轮毂电机驱动电动汽车动力理论与控制。E-mail:xld_vehicle@163.com
基金资助:
国家重点研发计划（2017YFB0103600）和北京市科技计划课题（D171100007517001）资助项目。

Fault Tolerant Control Based on Multi-methods Switching for Four-wheel-independently-actuated Electric Vehicles

ZHANG Lei^1,2, YU Wen³, WANG Zhenpo^1,2, DING Xiaolin^1,2

1. Collaborative Innovation Center for Electric Vehicles in Beijing, Beijing Institute of Technology, Beijing 100081;
2. National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081;
3. GAC Research and Development Center, Guangzhou 511434

Received:2019-11-16 Revised:2020-02-18 Online:2020-08-20 Published:2020-10-19

摘要/Abstract

摘要： 四轮轮毂电机驱动电动汽车是典型的过驱动系统，可有效提高车辆操作稳定性和安全性，但由于驱动电机数目多且工作条件恶劣，增大了驱动系统失效概率，而电机失效时由于异侧驱动力不等极易导致车辆横摆失稳。针对四轮轮毂电机驱动电动汽车驱动电机失效，提出基于多方法切换的容错控制策略。该策略包含转矩转移法、控制分配法、约束方程直接求解法三种控制方法，通过对三种控制方法适用工况以及转矩重构对转向系统影响的分析，构建了基于车辆预估跑偏距离与附加横摆角速度的控制方法切换规则，既保证了驱动电机失效情况下的车辆动力性与横摆稳定性，又有效提高了控制策略的执行效率。最后，在多种直线行驶与转弯行驶工况下，仿真验证了该控制策略的有效性，保证了四轮轮毂电机驱动电动汽车在电机失效时的安全性。

关键词: 四轮轮毂电机驱动电动汽车, 容错控制, 多方法切换

Abstract: Four-wheel-independently-actuated electric vehicles have the potential of improving the vehicle handling performance and safety thanks to the over-actuation property. But they may be more prone to motor failure issues that would jeopardize vehicle safety and compromise the driving performance. To meet this challenge, a fault tolerant control strategy is presented based on multi-methods switching. Conventional control methods including torque transfer, control allocation and constraint equation derivation. A switching mechanism is proposed to select the appropriate control method by analyzing their characteristics, application occasions and potential influence on the steering system. The proposed control strategy can improve vehicle driving performance and yaw stability while reducing computational load. Finally, the effectiveness of the proposed control strategy is verified under various straightforward and cornering driving conditions in Simulink/Carsim co-simulation.

Key words: four-wheel-independently-actuated electric vehicles, fault tolerant control, multi-methods switching

中图分类号:

U469

张雷, 余文, 王震坡, 丁晓林. 基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略[J]. 机械工程学报, 2020, 56(16): 227-239.

ZHANG Lei, YU Wen, WANG Zhenpo, DING Xiaolin. Fault Tolerant Control Based on Multi-methods Switching for Four-wheel-independently-actuated Electric Vehicles[J]. Journal of Mechanical Engineering, 2020, 56(16): 227-239.

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基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略

Fault Tolerant Control Based on Multi-methods Switching for Four-wheel-independently-actuated Electric Vehicles

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