Research On Stability Control Of Distributed Drive Electric Vehicle Considering Drive Motor Failure

Distributed drive electric vehicle has great control advantages because of its unique chassis layout and chassis structure.However,with the increasing number of vehicle actuators,actuator failure poses an increasing threat to the safety of vehicles.In order to improve the driving stability and safety of vehicles,the stability control problem under the failure of driving motor of distributed drive electric vehicles was studied.Aiming at the stability control problem of distributed drive electric vehicle(EV)actuator without failure,a hierarchical stability control strategy was proposed.In the upper controller,the sliding mode control was used to track the body attitude,and the expected force and torque was obtained.In the lower controller,the vehicle driving conditions was divided into straight driving mode and steering mode,and the tire force distribution method based on tire vertical load and tire force distribution method based on minimum tire utilization ratio was designed respectively.The controller realized the stability control of the vehicle in the state of actuator failure,and improved the stability and safety of the vehicle in the process of drivingAiming at the stability control problem of distributed drive electric vehicle drive motor under failure state,a fault-tolerant vehicle controller was designed.For compensated failure conditions and vehicle driving conditions,the fault-tolerant control strategy based on rule and the fault-tolerant control strategy based on reconfiguration control allocation were designed respectively.In order to ensure the accurate switching of vehicle working conditions,the continuous events and discrete events of vehicles were analyzed.Based on the hybrid theory,a multi-condition switching controller was established,which enhances the accuracy and stability of vehicle working mode switching,and comprehensively improves the driving stability and fault tolerance performance of vehicles.In order to verify the effectiveness of the stability controller and fault-tolerant controller,the simulation model was established based on MATLAB/Simulink,and the simulation was carried out under various conditions such as no failure and failure of the drive motor.The simulation results show that: compared with simple control,the stability control can better track the vehicle driving expectation,improve the ideal attitude tracking accuracy,maintain a good body attitude,and improve the stability of the vehicle in the process of driving.In the drive motor failure simulation verification,the fault-tolerant controller and multi-condition switching controller can respond quickly after the failure of the Vehicle drive motor,accurately switch the vehicle working conditions and fault-tolerant control strategy,maintain the expected driving attitude of the vehicle,and improve the driving stability and safety of the vehicle after the failure of the drive motor,which proves the effectiveness of the fault-tolerant controller.