03-02-2022 дата публикации
Номер: US20220032929A1
Принадлежит:
The present disclosure provides a fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure, comprising: first, realizing real-time acquisition of an output torque and a fault coefficient of a hub motor through each vehicle-mounted sensor and each parameter observer; then determining whether the vehicle power system enters a fault state, and if the hub motor is in the fault state, entering a set fault-tolerant tracking link; and judging the fault mode of the current vehicle, using different control logics for different fault modes, and finally realizing fault-tolerant control or emergency risk avoiding of the vehicle. According to the present disclosure, aiming at different fault conditions of a power system of the distributed electric drive autonomous vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle as much as possible, and the safety of passengers and goods is guaranteed. 1. A fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle , comprising the steps of: [{'sub': i', 'ri, 'wherein a four-wheel distributed electric drive autonomous vehicle is equipped with hub motors in four wheels to provide power; the actual output torque of each hub motor during normal driving is T, i=1, 2, 3, 4, which corresponds to a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, its value is equal to the output torque Trequired for vehicle tracking, i=1, 2, 3, 4, and the output torque of each hub motor is separately and independently controlled by the corresponding motor controller;'}, {'sub': i', 'i', 'ri, 'the fault coefficient of each hub motor is set as ξ, i=1, 2, 3, 4, its value is the ratio of the actual output torque Tof the hub motor to the required output torque T, the value range is [0, 1]; when the ...
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