Study On Fuzzy Fault Tolerant Driving Controller Of 4WID Electric Vehicle

Four-wheel independently driven(4WID) electric vehicle uses four in-wheel motors to drive, therefore, if some in-wheel motor gets faulty, the vehicle would lose the stability or even cause casualties, but the vehicles can maintain the driving routes with the fault tolerant controller. But relevant research in this field is still at initial stage in domestic.The research object of this paper is 4WID electric vehicle. Based on the theory of fuzzy,a fuzzy fault tolerant driving controller is designed by using the method of co-simulation to verify the controller and using the model of vehicle to validate the results of simulation. The main work in this paper is as follows:(1)By referring to documents that are relevant to 4WID fault tolerant controllers, giving a sketch of the latest situation of the related research. However, there has been no foundation for the application of fuzzy control to the entire driving fault tolerant controllers and detecting method for faulty electric motors.(2)Establish the vehicle models of seven degrees of freedom and the direct torque control model for brushless DC motors. Set up the simulation model of seven degrees of freedom in Matlab/simulink, this model is the basis of researching the vehicle. Establish the direct torque control simulation model of the brushless DC motor in Simulink and verify the validity of this model.(3)Design corresponding fault tolerant control strategies according to the fuzzy fault tolerant driving controllers and further investigate active fault detecting methodology for in-wheel motors. Based on the theory of fuzzy control and the theory of fault tolerance to design the fuzzy fault tolerant controllers and active fault detecting methodology..(4)Based on the method of model-based design performs experimental test of the driven fuzzy fault tolerant controller and analyzes the results. Using the co-simulation of Carsim and Matlab, then convert the fuzzy fault tolerant controller and control model in to C code and input the C code into Digital Signal Processing28335 TMS320DSP28335 is used as the controller of the 1:18 model for test.This research indicates that it has reference value in the filed of fault tolerant controller of electric vehicle and model-based design.