Fault Tolerant Control Allocation Based on Adaptive Sliding Mode Control for Distributed-Driven Electric Vehicle
Distributed-Driven Electric Vehicle(DDEV)faces many challenges in the four hub motors coordination control and vehicle handling stability.The probability of failure is greatly increased because of the redundancy of the DDEV actuator.When the actuator fails,the driver may be misled by the undesired vehicle performance which makes the vehicle lose the stability under critical condition.In this paper,sliding mode control strategy with fault-tolerant-control-allocation(FTCA)is adopted to improve the performance of the DDEV under extreme conditions with actuator failure.In the control layer,the sideslip angle is obtained by the state observer(SMO).In order to improve the robustness,an adaptive sliding mode control(ASMC)is used.Then,the FTCA is designed to distribute the torques of the four hub motors properly when the motor fails.The proposed ASMC-FTCA algorithm was verified through some simulation combined with Carsim and MATLAB.
Distributed driven electric vehicle (DDEV) State observer Adaptive sliding mode (ASM) Fault tolerant control allocation (FTCA)
Guohai Liu Shuangjian Wang Duo Zhang Yue Shen Zhen Yao
School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China
国际会议
江苏镇江
英文
251-261
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）