基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略

Four-wheel-independently-actuated electric vehicles have the potential of improving the vehicle handling performance and safety thanks to the over-actuation property. But they may be more prone to motor failure issues that would jeopardize vehicle safety and compromise the driving performance. To meet this challenge, a fault tolerant control strategy is presented based on multi-methods switching. Conventional control methods including torque transfer, control allocation and constraint equation derivation. A switching mechanism is proposed to select the appropriate control method by analyzing their characteristics, application occasions and potential influence on the steering system. The proposed control strategy can improve vehicle driving performance and yaw stability while reducing computational load. Finally, the effectiveness of the proposed control strategy is verified under various straightforward and cornering driving conditions in Simulink/Carsim co-simulation.