分布式电驱动重载车辆复合转向容错控制策略研究

doi:10.19562/j.chinasae.qcgc.2025.04.013

Abstract

Abstract:

Distributed electrically-driven heavy-duty vehicles achieve compound steering through the differential 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 burden 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 function 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.

Key words: distributed drive, compound steering, actuator failure, fault-tolerant control

Junqiu Li,Shengyue Chen,Jianwen Chen,Yongxi Yang,Xiaohan Li. Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive[J].Automotive Engineering, 2025, 47(4): 724-733.

Figures/Tables 12

参数	数值	单位
整车质量 $m$	70 000	kg
轮距 $B$	2.61	m
整车转动惯量 $I z z$	310 000	kg·m²
各轴到执行距离 $L 1 ~ L 6$	3.9/2.2/-4.6/-6.3/-8.7/-10.4	m
轮胎侧偏刚度 $C f ~ C r$	400 000/380 000	N·rad^-1

References 28

1	刘聪，刘辉，韩立金，等.分布式电驱动车辆极限越野环境下高速避障与稳定性控制［J］.兵工学报， 2021，42（10）：2102-2113.
	LIU Cong， LIU Hui， HAN Lijin， et al. High-speed obstacle avoidance and stability control of distributed electric drive vehicle in extreme off-road environment ［J］. Acta Armamentarii， 2021，42（10）：2102-2113.
2	蔡立春，廖自力，李嘉麒，等.8×8分布式电驱动装甲车辆稳定性直接横摆力矩与转矩矢量控制［J］.兵工学报，2021，42（10）：2196-2205.
	CAI Lichun， LIAO Zili， LI Jiaqi， et al. Direct yaw moment and torque vector control of armored vehicle stability with 8×8 distributed electric drive ［J］. Acta Armamentarii， 2021， 42（10）： 2196-2205.
3	刘徐坤，骆媛媛，杨影，等.分布式电驱动车辆状态感知与控制研究综述［J］.机械工程学报，2019，55（22）：60-79.
	LIU X K， LUO Y Y， YANG Y， et al. Review on state perception and control for distributed drive electric vehicles［J］. Journal of Mechanical Engineering， 2019， 55（ 22）：60-79.
4	王震坡，丁晓林，张雷.四轮轮毂电机驱动电动汽车驱动防滑控制关键技术综述［J］.机械工程学报，2019，55（12）：99-120.
	WANG Zhenpo， DING Xiaolin， ZHANG Lei， et al. Overview on key technologies of acceleration slip regulation for four-wheel -independently-actuated electric vehicles［J］. Journal of Mechanical Engineering， 2019，55（12）：99-120.
5	彭博，李军求，孙逢春，等.多轴分布式电驱动车辆后桥差动转向控制策略研究［J］.汽车工程， 2020， 42（7）： 909-916.
	PENG Bo， LI Junqiu， SUN Fengchun， et al. Research on rear axle differential steering control strategy of multi-axle distributed electric drive vehicle ［J］. Automotive Engineering， 2019，42（7）：909-916.
6	WEI R， LI J， LIU J， et al. Differential steering strategy for distributed drive vehicle with double rear steering bridges based on sliding mode control［C］. 2021 40th Chinese Control Conference （CCC）， Shanghai， China， 2021： 5985-5991.
7	张雷，王子浩，孙逢春，等.四轮轮毂电机驱动智能电动汽车转向失效容错控制研究［J］.机械工程学报， 2021， 57（20）：141-152.
	ZHANG Lei， WANG Zihao， SUN Fengchun， et al. Research on steering failure tolerance control of intelligent electric vehicle driven by four-wheel hub motor ［J］. Chinese Journal of Mechanical Engineering， 2021， 57（20）：141-152.
8	NIEDERLINSKI A. A heuristic approach to the design of interacting multi-variable systems［J］. Automatica， 1971， 7： 691-701.
9	李红梅，陈涛.电动汽车PMSM退磁故障诊断及故障模式识别［J］.电工技术学报，2017，32（5）：1-8.
	LI Hongmei， CHEN Tao. Fault diagnosis and fault mode recognition of electric vehicle PMSM demagnetization ［J］. Transactions of China Electrotechnical Society，2017，32（5）：1-8.
10	El Khil S K， JLASSI I， CARDOSO A J M， et al. Diagnosis of open-switch and current sensor faults in PMSM drives through stator current analysis［J］. IEEE Transactions on Industry Applications， 2019， 55（6）： 5925-5937.
11	陈勇，梁洪，王成栋，等. 基于改进小波包变换和信号融合的永磁同步电机匝间短路故障检测［J］. 电工技术学报， 2020， 35（S1）： 228-234.
	CHEN Yong， LIANG Hong， WANG Chengdong， et al. Fault detection of winding-to-winding short circuit in permanent magnet synchronous motor based on improved wavelet packet transform and signal fusion［J］. Journal of Electrical Engineering， 2020， 35（S1）： 228-234.
12	许良，赵吉文，宋俊材，等. 基于ALE-MRAS磁链观测器的永磁同步直线电机均匀退磁诊断研究［J］. 中国电机工程学报， 2019， 39（24）： 7347-7356.
	XU Liang， ZHAO Jiwen， SONG Juncai， et al. Research on uniform demagnetization diagnosis of permanent magnet synchronous linear motor based on ALE-MRAS flux observer［J］. Proceedings of the CSEE， 2019， 39（24）： 7347-7356.
13	陈勇，张建建，陈章勇. 基于电流观测器的三相逆变电路开路故障在线诊断［J］. 电工技术学报， 2019， 34（S2）： 609-617.
	CHEN Yong， ZHANG Jianjian， CHEN Zhangyong. On-line diagnosis of open-circuit fault in three-phase inverter circuit based on current observer ［J］. Journal of Electrical Engineering， 2019， 34（S2）： 609-617.
14	SONG X， ZHAO J， SONG J， et al. Local demagnetization fault recognition of permanent magnet synchronous linear motor based on S-transform and PSO-LSSVM［J］. IEEE Transactions on Power Electronics， 2020， 35（8）： 7816-7825.
15	TUERXUN W， CHANG X， HONGYU G， et al. Fault diagnosis of wind turbines based on a support vector machine optimized by the sparrow search algorithm［J］. IEEE Access， 2021， 9： 69307-69315.
16	SONG X， ZHAO J， SONG J， et al. Local demagnetization fault recognition of permanent magnet synchronous linear motor based on S-transform and PSO-LSSVM［J］. IEEE Transactions on Power Electronics， 2020， 35（8）： 7816-7825.
17	夏秋，陈龙，徐兴，等.基于故障估计的无人车容错控制方法［J］.北京理工大学学报，2022，42（7）：723-732.DOI：10.15918/j.tbit1001-0645.2021.161.
	XIA Qiu， CHEN Long， XU Xing， et al. Unmanned vehicle fault-tolerant control method based on fault estimation ［J］. Journal of Beijing Institute of Technology， 2022， 42（7）： 723-732. DOI： 10.15918 / j.tbit1001-0645.2021.161.
18	WANG R， WANG J. Passive actuator fault-tolerant control for a class of overactuated nonlinear systems and applications to electric vehicles［J］. IEEE Transactions on Vehicular Technology， 2013， 62（3）：972-985.
19	HUANG C. Delta operator-based fault estimation and fault-tolerant model predictive control for steer-by-wire systems［J］. IEEE Transactions on Control Systems Technology， 2018， 26（5）：1-8.
20	MUTOH N， TAKAHASHI Y. Front-and-rear-wheel-independent-drive type electric vehicle （FRID EV） with the outstanding driving performance suitable for next-generation adavanced EVs［C］. IEEE Vehicle Power & Propulsion Conference. IEEE， 2009.
21	GUO J， LUO Y， LI K. Robust H_∞ fault-tolerant lateral control of four-wheel-steering autonomous vehicels ［J］. International Journal of Automotive Technology， 2020， 21（4）： 993-1000.
22	ZHANG B， LU S， XIE W. Cooperative game-based driver assistance control for vehicles suffering actuator faults ［J］. IEEE Transactions on Intelligent Transportation Systems， 2021， 10.1109/TITS.2021.3076200.
23	胡云，江发潮，陈锐，等.分布式电动车辆驱动系统 MFAC 主动容错控制［J］.汽车工程，2019， 41（9）：8.
	HU Yun， JIANG Fachao，CHEN Rui， et al. MFAC active fault tolerance control for distributed electric vehicle drive system ［J］. Automotive Engineering， 2019， 41（9）：8.
24	LEE J H. Model predictive control： review of the three decades of development［J］. International Journal of Control， Automation and Systems， 2011， 9（3）： 415-424.
25	LEE K， LEE M. Fault-tolerant stability control for independent four-wheel drive electric vehicle under actuator fault conditions ［J］. IEEE Access， 2020， 8：91368-91378.
26	ZHANG G， ZHANG H， HUANG X， et al. Active fault-tolerant control for electric vehicles with independently driven rear in-wheel motors against certain actuator faults ［J］. IEEE Transactions on Control Systems Technology， 2016， 24（5）： 1557-1572.
27	WU Y， LI J， WANG W. Differential drive based cooperate steering control strategy considering energy efficiency for multi-axle distributed vehicle［C］. ICEIV2022， Chapter 131， 978-981-99-1026-7.
28	ZHAI L， SUN T， JIE W. Electronic stability control based on motor driving and braking torque distribution for a four in-wheel motor drive electric vehicle［J］. IEEE Transactions on Vehicular Technology， 2016， 65（6）：4726-4739.

[1]	Zichen Zheng,Shu Wang,Xuan Zhao,Zhaoke Li. Integrated Control of Distributed Drive Electric Vehicle AFS/DYC Based on Hybrid Model Predictive Control [J]. Automotive Engineering, 2025, 47(3): 470-480.
[2]	Qin Li,Zhuang Li,Jianming Tang,Yong Wang,Boyuan Zhang,Deqiang He. Multi-objective Torque Distribution Strategy for Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2025, 47(3): 489-498.
[3]	Xuanyu Shi,Yingfeng Cai,Hai Wang,Xiaoqiang Sun,Long Chen,Chao Yang. Brake Stability Control Technology of Multi-axle Commercial Vehicle on Wet and Low Adhesion Road [J]. Automotive Engineering, 2025, 47(2): 259-268.
[4]	Dongxu Su,Zhiguo Zhao,Kun Zhao,Gang Li,Qin Yu. Tube-MPC Vehicle Stability Control Based on Stability Domain Division in Extension Phase Plane [J]. Automotive Engineering, 2024, 46(9): 1654-1667.
[5]	Qin Li,Jianming Tang,Boyuan Zhang,Yong Chen,Yong Wang. Research on Fault-Tolerant Control of Multi-Actuator for Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2023, 45(12): 2251-2259.
[6]	Qiang Song,Guanfeng Wang,He Shang,Nianzhong Zhang. Research on Handling Stability Control Strategy for Distributed Drive Electric Vehicle Based on Multi-parameter Control [J]. Automotive Engineering, 2023, 45(11): 2104-2112.
[7]	Junnian Wang,Chunlin Zhang,Mengyuan Zhao,Yue Qiang,Dachang Guo,Fang Yang. Coordinated Shift Control of Hub-Motor Two-Speed Transmission Without Power Interruption [J]. Automotive Engineering, 2023, 45(10): 1885-1896.
[8]	Hang Li,Zunyan Hu,Jiayi Hu,Jiachen Dong,Jianqiu Li,Liangfei Xu,Ouyang Minggao,Yu Bu,Lijun Wang,Zhidong Qin. Design, Analysis and Validation of Novel Distributed Drive Liquid Hydrogen Fuel Cell Heavy Commercial Vehicles [J]. Automotive Engineering, 2022, 44(8): 1183-1198.
[9]	Junqiu Li,Jiwei Liu,Chaofeng Zhu. Research on Energy Management of Hybrid Electric Vehicle Based on Time-Varying Chassis Configuration [J]. Automotive Engineering, 2022, 44(12): 1866-1876.
[10]	Longfei Zhong,Yuhui Peng,Ming Jiang. Stability Control of Distributed Driven Electric Vehicle Based on Phase Plane [J]. Automotive Engineering, 2021, 43(5): 721-729.
[11]	Peng Bo, Li Junqiu, Sun Fengchun, Zhu Xuebin, Wan Cuncai. Research on Differential Drive Steering Control Strategy for Rear Axles of Multi-Axle Distributed Electric Drive Vehicle [J]. Automotive Engineering, 2020, 42(7): 909-916.
[12]	Zhao Zhiguo, Fu Shihao, Jiang Siwen, Chen Jiayi. Fault Diagnosis of Position Sensor for Synchronizer Actuator Motor in Dry Dual Clutch Transmission [J]. Automotive Engineering, 2020, 42(11): 1585-1594.
[13]	Hu Yun, Jiang Fachao, Chen Rui & Luo Yugong. Active Fault-Tolerant Control Based on MFAC for 4WID EV Driving System [J]. Automotive Engineering, 2019, 41(9): 983-989.
[14]	Liu Zhiqiang ,Liu Guang. Simulation and Test of Stability Control for Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2019, 41(7): 792-799.
[15]	Du Ronghua, Mi Siyu, Hu Lin & Meng Can. Simulation on Control Strategy for Torque Distribution of Compound Brake System in a Distributed Drive Electric Vehicle [J]. , 2019, 41(3): 327-333.

Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 12

References 28

Related Articles 15

Metrics

Comments

Recommended 0