Research On Robust Fault-tolerant Control Method For Distributed Drive Electric Vehicles

Distributed electric vehicles have become a focus research on vehicles,because its wheel can be independently controlled,fast response and other advantages,but the problem of its safety has been a key technology in the development of the vehicle.On the one hand,external disturbances such as crosswinds are increasing.On the other hand,with the distributed drive electric vehicle adopts telex line control system which complexity increase,the probability of actuator and sensor failure also increases correspondingly.Based on these two points,aiming at the problem of uncertain fault and external disturbances,considering the vehicle queue to maintain and the trajectory tracking problem for the research of control method.In the article,vehicle interference suppression based on fuzzy PID control,driver motor fault compensation control based on adaptive backstepping and robust fault-tolerant control based on adaptive sliding mode are proposed.In order to improve the stability of vehicles under constant lateral wind disturbance,a vehicle disturbance suppression method based on fuzzy PID control was proposed.Firstly,a simplified vehicle model based on cross wind interference was presented.Then,fuzzy control method and PID control method were combined to track the vehicle yaw velocity and the angle of deviation from the center of mass.The fault-tolerant control based on adaptive backstepping was designed,so that deal with the problem that the stability of the vehicle decreases after the failure of the driving motor of the distributed driven electric vehicle.Firstly,the kinematics equation of fault tolerant control for distributed driven electric vehicles was presented.Secondly,the fault mode of drive motor is analyzed and the general fault model of actuator was established.Thirdly,a fault tolerant controller independent of fault detection module was designed for each fault situation,and a composite controller was obtained by fusing each controller.Finally,Lyapunov stability theory was used to prove the stability of the system.A sliding mode adaptive robust fault-tolerant control method for stability control of distributed drive electric vehicles was proposed to solve the problem of vehicle safety degradation caused by simultaneous driver motor failure and external disturbance.Firstly,the disturbance types of distributed drive electric vehicles were analyzed and a general disturbance model was established,and the sliding mode control was used to design the basic controller to ensure the stability of the vehicle system under normal driving.Then the fault information,controller parameters and the upper bound of unknown disturbance were estimated by the adaptive mechanism.Lyapunov stability theory proved that the signals of distributed drive electric vehicles are uniformly bounded under the occurrence of drive motor faults and external disturbances,and proves the stability of the system.Based on the simulation results of Matlab,the following conclusions are drawn: The interference suppression strategy improves the yaw stability of distributed drive electric vehicles.The drive motor fault compensation control strategy ensures the vehicle closed-loop system stability and asymptotically tracks the given output instructions,and improves the vehicle handling stability and actuator fault tolerance performance.The robust fault-tolerant control strategy ensures the safety of distributed drive electric vehicles in the event of drive failure and external disturbance,and improves the stable tracking performance of distributed drive electric vehicles.