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| Fault tolerant control of distributed hub motor driven vehicle based on temperature expiration condition |
| 1. School of Automotive Engineering， Wuhan University of Technology, Wuhan， Hubei 430070， China； 2. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan，Hubei 430070， China； 3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan， Hubei 430070， China； 4. Hubei Engineering Technology Research Center for New Energy and Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan， Hubei 430070， China |
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Abstract Wheel torques of vehicles driven by hub motors are independently controllable with rapid dynamic response and redundant configuration of drive system, which have significant advantages in integrated vehicle dynamics control. However, the complex driving conditions and high power demand are likely to cause temperature-rise fault of the motor, which can ultimately affect driving efficiency. To investigate the temperature fault diagnosis of hub motor and the torque distribution strategy of each wheel under the temperature expiration condition, and ensure the stability and power performance of the vehicle, the fuzzy logic detection algorithm was designed to diagnose the temperature fault of the motor, and the temperature failure factor was proposed to quantify the failure state of the hub motor. The longitudinal and lateral force requirements were calculated according to the expected speed and front wheel angle, and the fault tolerant control strategy was designed to achieve the optimal distribution of torque reconstruction. The proposed algorithm was verified on a prototype vehicle. The results show that the fault diagnosis module and the solution strategy can judge the motor failure state in time and reconstruct the torque distribution, which improves the driving safety and achieves the coordinated control of the vehicle dynamics and stability.
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Received: 15 October 2021
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2023, Vol. 44 
