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Driving system fault-tolerant control strategy of distribution type driving electronic automobile

An electric vehicle, fault-tolerant control technology, applied in electric vehicles, control drive, power management, etc., can solve problems affecting driving safety, reduce software errors, ensure driving safety and stability, and avoid sudden changes. Effect

Active Publication Date: 2019-05-28
WUHAN UNIV OF TECH
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Problems solved by technology

If the driving failure occurs suddenly during the driving process of the vehicle, if the fault-tolerant control is not carried out in time, the driving safety will be seriously affected

Method used

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  • Driving system fault-tolerant control strategy of distribution type driving electronic automobile

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Embodiment Construction

[0042] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] like figure 1 As shown, the fault-tolerant control strategy of the drive system of the distributed drive electric vehicle in the embodiment of the present invention, in the drive system of the electric vehicle, the upper controller adopts sliding mode variable structure control, and the lower controller adopts sliding mode variable structure control or LQR; The fault-tolerant control strategy includes the following steps:

[0044] In the case of a known wheel failure, the fault-tolerant control strategy is used to carry out the fault-tolerant control of the vehicle;

[0045] Upper-level co...

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Abstract

The invention discloses a driving system fault-tolerant control strategy of a distribution type driving electronic automobile. Under a condition that one wheel is failed, fault tolerant control on anautomobile is implemented according to the fault-tolerant control strategy; upper layer control refers to that a transverse swinging angle speed and a centroid mass deviation angle of the automobile are adopted as control targets, an automobile transverse swinging moment control system is established in case of a failure fault, and on the basis of a sliding mode variable structure control strategyfor constraint on the basis of the transverse swinging angle speed and the centroid mass deviation angle, an expected transverse swinging moment is calculated; lower layer control refers to that through control of a sliding mode variable structure or LQR (Linear Quadratic Regulator Control), dynamic and stable torque coordinate optimization allocation strategies are respectively achieved, together with the expected transverse swinging moment, allocation of wheel moments is calculated, moment reallocation of wheels working normally is implemented, and stable running of the automobile can be ensured. By adopting the strategy, moment reallocation of wheels working normally can be implemented, preset wheel paths can be met to the maximum extent, sudden situations can be avoided, and safe andstable running of automobiles can be ensured.

Description

technical field [0001] The invention relates to the field of distributed drive electric vehicle control, in particular to a drive system fault-tolerant control strategy for distributed drive electric vehicles. Background technique [0002] Under the current environmental situation, electric vehicles are the focus and focus of research in the automotive industry. Distributed drive electric vehicle is a kind of electric vehicle. It has the advantage that four wheels can be driven independently, which makes it easier to control the longitudinal force of each tire. When failure occurs, distributed drive electric vehicle can better reduce the damage caused by failure. and loss. [0003] Existing stability or dynamic control strategies are generally based on vehicles under normal driving conditions, and there are few patents on fault-tolerant control strategies suitable for failure situations. If the driving failure occurs suddenly during the driving process of the vehicle, the ...

Claims

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Application Information

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IPC IPC(8): B60L15/20B60L15/32
CPCY02T10/72
Inventor 杨波程阳裴晓飞张震林晨余嘉星张佳琛
Owner WUHAN UNIV OF TECH
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