Robust adaptive fault-tolerant control method for four-wheel independently driven electric vehicle based on disturbance observation

Abstract

The invention discloses a robust adaptive fault-tolerant control method for a four-wheel independently driven electric vehicle based on disturbance observation. The method mainly comprises the following steps of 1, establishing a vehicle dynamics model in combination with a disturbance observer; 2, constructing a side slip angle observer of the vehicle according to the yaw velocity of the vehicleand a two-degree-of-freedom model of the vehicle; 3, designing an upper-layer controller based on an adaptive sliding mode control theory to obtain a virtual control quantity; 4, designing a fault-tolerant distribution layer based on the fault information to distribute the motor control signals to the normally driven motors so as to ensure the stability of the vehicle in case of a fault; and 5, establishing a slip rate control layer, and controlling the slip rates of the wheels within a reasonable range. The method has the advantages that the failure condition of the 4WID-EV driving motor is considered, a fault factor is introduced to redistribute a lower-layer signal, the disturbance observer is established to compensate the disturbance of the vehicle, the robustness of the system is improved by adopting the adaptive sliding mode control, and the slip rate is controlled to prevent the unreasonable slip of the wheels.

Description

technical field [0001] The invention relates to an adaptive robust fault-tolerant control method for a four-wheel independent drive electric vehicle (4WID-EV) based on disturbance observation, in particular to a disturbance observation and fault-tolerant distribution control method. Background technique [0002] Under the dual problems of environmental protection and energy consumption, the development of electric vehicles has attracted more and more attention. 4WID-EV cancels the complex transmission mechanism of traditional cars, and directly installs the drive motor in the wheel hub of the vehicle. It has the characteristics of fast torque response and high transmission efficiency, and has become a research hotspot of scholars at home and abroad. The side slip angle of the vehicle's center of mass is one of the important indicators to measure the driving stability of the vehicle. However, it is difficult to accurately detect the side slip angle of the vehicle's center of ...

AI Technical Summary

Problems solved by technology

However, the traditional sliding mode control usually requires a large control gain to ensure the control effect of the system, so there will be chattering

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