首页>
外国专利>
FAULT-TOLERANT TRACKING CONTROL METHOD FOR FOUR-WHEEL DISTRIBUTED ELECTRIC DRIVE AUTONOMOUS VEHICLE
FAULT-TOLERANT TRACKING CONTROL METHOD FOR FOUR-WHEEL DISTRIBUTED ELECTRIC DRIVE AUTONOMOUS VEHICLE
展开▼
机译:四轮分布式电动驱动自动车辆的容错跟踪控制方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
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.
展开▼