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

摘要： 为了提高单电机故障状态下分布式驱动电动汽车的稳定性，提出了一种驱动力重构和 主动前轮转向（AFS）结合的容错控制方法。首先，设计滑模控制器，控制输入量为横摆角 速度和质心侧偏角，进而对所需横摆力矩和前轮附加转角进行控制。其次，建立电机故障状 态下的整车驱动力优化分配模型。当车辆电机出现故障时，运用二次规划算法对各电机转矩 进行重构分配。同时，当某一电机发生故障且同侧电机出现输出饱和而无法提供足够的横摆 力矩时，通过主动前轮转向提供附加横摆力矩。最终搭建 CarSim/Simulink 联合仿真模型进行 验证，结果显示，所采用的容错控制方法可有效提高车辆稳定性和动力性。

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