【摘要】 在电动汽车行驶稳定性控制的研究中,由于四轮独立驱动电动汽车采用四个轮毂电机驱动车辆行驶,当轮毂电机故障时,将导致汽车失去行驶稳定性甚至造成人员伤亡。为解决上述问题,设计一种在单双电机故障失效情况下的维持车辆稳定性的主动容错模糊控制器和轮毂电机故障的主动检测方法,控制器在电动汽车行驶过程中可对故障电机隔离并协调转矩分配,保证行驶稳定性。通过建立七自由车辆动力学模型及相应的容错控制策略,利用联合仿真对模糊控制器进行验证,结果证明主动容错模糊控制器可有效保证车辆行驶的稳定性和安全性。更多还原

【Abstract】 Four-wheel independently driven(4WID) Electric Vehicle uses four in-wheel motors to drive,therefore,if some in-wheel motor gets faulty,the vehicle would lose the stabihty or even cause casualties.To solve these problems,this paper designed an Active Fault-tolerant Fuzzy Controller for four-wheel independently driven(4WID)Electric Vehicle and an Active Fuzzy Detection Method of the Electric Motors in condition that one or two motors completely fail.The controller can isolate the fault motor,coordinate torque distribution in driving,and ensure the stability.The mathematic models of seven degree of freedom were established.To ensure a good riding stability and dynamic property with motors in failure state,some motor fault tolerance control strategies were proposed and the fuzzy controller was validated through co-simulation.The result proves that the vehicle stability and safety can be effectively guaranteed by the active fault tolerant fuzzy controller.更多还原