分布式电驱动重载车辆复合转向容错控制策略研究

Distributed eleotrioally-driven heavy-duty vehicles achieve Compound steering through the dif-ferential between the steering assist motor and the wheel-end drive motor. By means of coordinated control of multiple motors, various active safety control functions are realized and the driver's operational bürden is reduced. For the driving safety issues brought about by the failure of the drive motor and the steering assist motor, in this paper a fault-tolerant control strategy encompassing mode switching and fault-tolerant torque distribution is proposed. The proposed mode-switching strategy, based on the vehicle pose Information, introduces in the yaw rate residual func-tion as the switching condition for the fault-tolerant mode. The proposed fault-tolerant torque distribution strategy takes into account of the Output redundancy and the vehicle's stability to solve for the target Output torque of the drive motor and the steering assist motor. Finally, a hardware-in-the-loop Simulation platform is established to verify the effectiveness and real-time Performance of the control strategy.