Li, Xin (Dalian Minzu University), Ge, Pingshu (Dalian Minzu University), Tao, Zhang (Dalian Minzu University), Wang, Yang (Dalian Minzu University), Liu, Junjie (Dalian Minzu University), Cui, Fanglei (Dalian Minzu University)

Fault Tolerant Control Method of Distributed Drive Electric Vehicles Based on Observer

Scheduled for presentation during the Regular session "Vehicle Control I" (ThA2), Thursday, October 31, 2024, 11:30−11:50, Room T2

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

An active fault-tolerant control method based on Unscented Kalman filter observer is proposed for the case of motor faults in distributed drive electric vehicle.Unscented Kalman filter observer is built to observe the motor failure in real time.Then,the fault-tolerant controller uses hierarchical control structure, the upper controller uses sliding mode variable structure control based on reaching rate to obtain the required force and torque of the vehicle, and the lower controller uses the reconstruction control allocation method based on failure factors and fault constraint. The simulation results show that the observer can realize real-time observation of motor faults. Compared with the vehicle without control, the vehicle under the fault-tolerant control algorithm can maintain the stability of the original path under different operating conditions and show the effectiveness of the proposed algorithm.