欧健;陈瑞楠;杨鄂川;张勇;

• 1:重庆理工大学

摘要(Abstract)：

针对分布式驱动电动汽车驱动系统部分失效情况下,传统控制策略难以满足车辆纵、横向力需求且控制性能下降的问题,设计了一种基于故障估计的容错控制方法,讨论了驱动系统失效的情况,并建立了对应的车辆模型。在此基础上建立了用于估计当前失效因子的控制器,根据期望速度和前轮转角计算纵、横向力需求,对车辆剩余的驱动力进行再分配。CarSim/Simulink联合仿真结果表明,驱动系统部分失效时,所设计的容错控制方法能够对车辆的剩余驱动力进行再分配,提升故障车辆的安全性。

关键词(KeyWords)： 电动汽车;分布式驱动;失效;容错控制;故障估计

Abstract:

Keywords:

基金项目(Foundation): 重庆市教委科学技术研究项目(KJ1600911);; 重庆市基础与前沿研究计划资助项目(cstc2015jcyjA60010)

作者(Authors): 欧健;陈瑞楠;杨鄂川;张勇;

DOI: 10.19620/j.cnki.1000-3703.20180819

参考文献(References)：

• [1]李克强,张书玮,罗禹贡,等.智能环境友好型车辆的概念及其最新进展[J].汽车安全与节能学报,2013,4(2):109-120.
• [2]Wang J,Longoria R G.Coordinated and Reconfigurable Vehicle Dynamics Control[J].IEEE Transactions on Control Systems Technology,2009,17(3):723-732.
• [3]Song Y D,Chen H N,Li D Y.Virtual-Point-Based Fault-Tolerant Lateral and Longitudinal Control of 4W-Steering Vehicles[J].IEEE Transactions on Intelligent Transportation Systems,2011,12(4):1343-1351.
• [4]Zhang G,Zhang H,Wang J,et al.Actuator Fault Sensitivity Analysis for In-Wheel Motor Electric Ground Vehicle with Active Steering System[C]//ASME 2014 Dynamic Systems and Control Conference.American Society of Mechanical Engineers.San Antonio,Texas,USA,October 22-24,2014:V001T10A001-V001T10A008.
• [5]Hu J S,Yin D,Hori Y.Fault-Tolerant Traction Control of Electric Vehicles[J].Control Engineering Practice,2011,19(2):204-213.
• [6]Ito A.Design of Fault Tolerant Control System for Electric Vehicles with Steer-By-Wire and In-Wheel Motors[C]//Advances in Automotive Control.2013:556-561.
• [7]Mutoh N,Takahashi Y,Tomita Y.Failsafe Drive Performance of Electric Vehicles with the Structure Driven by the Front and Rear Wheels Independently[C]//Industrial Electronics Society.IECON 2007.Conference of the IEEE.IEEE,2008:280-285.
• [8]褚文博,罗禹贡,韩云武,等.基于规则的分布式电驱动车辆驱动系统失效控制[J].机械工程学报,2012,48(10):90-95.
• [9]Bakker B E,Nyborg L,Pacejka H.Tyre Modelling for Use in Vehicle Dynamic Studies[J].SAE Technical Paper 870421,1987.
• [10]王永胜.基于驾驶员不确定性的车辆横摆稳定性控制方法研究[D].重庆:重庆理工大学,2017.
• [11]Bic?ke M,Gotovac G,Miljavec D,et al.Mechanical Failure Mode Causes of In-Wheel Motors[J].Strojniski Vestnik,2015,61(1):74-85.
• [12]Han J D,He Y Q,Xu W L.Angular Acceleration Estimation and Feedback Control:An Experimental Investigation[J].Mechatronics,2007,17(9):524-532.
• [13]Yamakawa J,Kojima A,Watanabe K.A Method of Torque Control for Independent Wheel Drive Vehicles on Rough Terrain[J].Journal of Terramechanics,2007,44(5):371-381.
• [14]戴一凡,罗禹贡,李克强,等.单电机强混合动力电动车辆的动态协调控制[J].汽车工程,2011,33(12):1007-1012.
• [15]Rajamani R.Vehicle Dynamics and Control[M].New York:Springer Science&Business Media,2011.
• [16]Mokhiamar O,Abe M.Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control[J].Journal of Dynamic Systems Measurement&Control,2004,126(4):753-763.
• [17]刘杰,刘超,宗长富,等.基于重构控制分配的4WID/4WIS电动车容错控制[J].华南理工大学学报(自然科学版),2013(11):22.
• [18]Bosche J.Actuator Fault-Tolerant Control for Vehicle Dynamics[J].IFAC Proceedings Volumes,2009,42(8):1103-1108.