关键词: 分布式电动汽车；电机故障；转矩重构；前轮转向；稳定性控制；CarSim/Simulink

Abstract: In order to improve the stability of distributed drive electric vehicle under single motor fault state, a fault-tolerant control method combining driving force reconstruction and active front steering (AFS) is proposed. Firstly, a sliding mode controller is designed to control the yaw rate and the center of mass deflection angle. Secondly, an optimal distribution model of vehicle driving force is established under the condition of motor failure. When the vehicle motor fails, the use of quadratic programming algorithm for the motor torque into row refactoring allocation. At the same time, when a motor fails and the output of the same side motor is saturated and can not provide enough yaw torque, additional yaw torque is provided by active front steering. Finally, the CarSim/Simulink joint simulation model is built to test. The results show that the fault-tolerant control method can effectively improve the vehicle stability and power.

Key words: Distributed electric vehicle; Motor failure; Torque reconstruction; Front-wheel steering;Stability control; CarSim/Simulink