The invention discloses a failure fault-tolerant control method for an electric drive system of a distributed off-road vehicle, and belongs to the technical field of vehicle control, the motor failure condition of the distributed off-road vehicle is obtained, when the vehicle motor has a hard fault, the torque output of all motors is set to be zero, and parking maintenance is performed; when a vehicle motor has a soft fault, establishing a whole distributed driving off-road vehicle seven-degree-of-freedom model based on the obtained vehicle real-time information, and meanwhile, considering the motor fault, and designing a stability objective function with the maximum stability margin of the whole four wheels of the off-road vehicle; a vehicle motion tracking algorithm based on model prediction is designed, and the total driving torque and the yawing torque required by the current working condition are solved; the motor torque is reconfigured and distributed, and the transverse and longitudinal stability of the vehicle is guaranteed. According to the invention, torque control under the failure state of the distributed off-road vehicle electric drive system can be realized, and the driving stability and certain dynamic property of the off-road vehicle are ensured.
本发明公开了一种分布式越野车辆电驱系统失效容错控制方法,属于车辆控制技术领域,获取分布式越野车辆的电机失效情况,当车辆电机发生硬性故障时,将所有电机的扭矩输出置为零,停车检修;当车辆电机发生软性故障时,基于获取的车辆实时信息,建立分布式驱动越野车辆整车七自由度模型,同时考虑电机故障,以越野车辆四轮车轮整体的稳裕度最大,设计稳定性目标函数;设计基于模型预测的车辆运动跟踪算法,求解出当前工况所需的总驱动力矩、横摆力矩;对电机扭矩进行重构分配,保证车辆横纵向稳定性。本发明可以实现对分布式越野车辆电驱系统失效状态下的扭矩控制,保证越野车辆的行驶稳定性和一定的动力性。
Failure fault-tolerant control method for distributed off-road vehicle electric drive system
一种分布式越野车辆电驱系统失效容错控制方法
2024-04-09
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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