CN110126643A - The control method and system of distributed-driving electric automobile under motor failure state - Google Patents
The control method and system of distributed-driving electric automobile under motor failure state Download PDFInfo
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- CN110126643A CN110126643A CN201910342111.3A CN201910342111A CN110126643A CN 110126643 A CN110126643 A CN 110126643A CN 201910342111 A CN201910342111 A CN 201910342111A CN 110126643 A CN110126643 A CN 110126643A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present invention discloses the control method and system of distributed-driving electric automobile under a kind of motor failure state.The control method includes: to obtain the driving motor failure conditions of distributed-driving electric automobile；When driving motor failure conditions are uncontrollable failure, determine that the dtc signal of all driving motors is zero；When driving motor failure conditions are that single motor fails or heteropleural bi-motor fails, the vehicle parameter of distributed-driving electric automobile is obtained；Vehicle parameter includes steering wheel for vehicle corner, speed and the practical yaw velocity of vehicle；According to driving motor failure conditions and vehicle parameter, the dtc signal of each driving motor is determined；The torque of each driving motor of distributed-driving electric automobile is adjusted according to the dtc signal of each driving motor.The present invention may be implemented to control four hub motor distributed-driving electric automobiles under motor failure state, guarantee the stability of vehicle, while not influence driver's driving.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to distributed-driving electric automobile under a kind of motor failure state
Control method and system.
Background technique
Distributed-driving electric automobile refers to that, in headlight two or more driving motors, each driving motor passes through
Certain approach transfers power to corresponding driving wheel.Therefore current distributed-driving electric automobile is mainly by two kinds of configuration groups
At Dual-motors Driving configuration and four motor driven configurations, and this application involves driving motor failure be primarily directed to four-wheel
Hub/wheel motor drives configuration.
When occur driving motor failure after, by corresponding torque reconstructing method to motor torque redistribute to
Guarantee the dynamic property and Yaw stability of vehicle.Current immediate control method is that Dual-motors Driving distribution driving vehicle is lame
Row control, this method invariable power limitation and make vehicle constant-speed operation by carrying out to faulty motor when motor breaks down, and
And the state parameter of itself is detected by sensor when turning to and vehicle front wheel angle is carried out by steering boost system
Adjustment.The program is primarily directed to bi-motor distribution drive scheme, if using this method to four hub motors distribution
For driving electric car when being controlled, the dynamic property of vehicle will receive very big limitation, and power steering electricity when due to turning to
The intervention of machine will lead to the driving experience of driver and driving habit usually deviation occurs to influence to drive.Therefore, the party
Method is not suitable with four wheel hubs/wheel motor driving distributed-driving electric automobile, and the prior art is also without being directed to above-mentioned four wheel hubs/wheel
Fault tolerant control method under the driving motor failure state of side motor driven electric car.
Summary of the invention
The object of the present invention is to provide a kind of control method of distributed-driving electric automobile under motor failure state and it is
System, controls four hub motor distributed-driving electric automobiles under motor failure state with realizing, guarantees the stabilization of vehicle
Property, while driver's driving is not influenced.
To achieve the above object, the present invention provides following schemes:
The control method of distributed-driving electric automobile under a kind of motor failure state, comprising:
Obtain the driving motor failure conditions of distributed-driving electric automobile；The driving motor failure conditions include: list
Motor failure, the failure of heteropleural bi-motor and uncontrollable failure；The uncontrollable failure includes the failure of ipsilateral bi-motor, the mistake of three motors
Effect and four motor failures；
When the driving motor failure conditions of the distributed-driving electric automobile are uncontrollable failure, all drivings are determined
The dtc signal of motor is zero；
When the driving motor failure conditions of the distributed-driving electric automobile are that single motor fails or heteropleural bi-motor loses
When effect, the vehicle parameter of the distributed-driving electric automobile is obtained；The vehicle parameter includes steering wheel for vehicle corner, speed
With the practical yaw velocity of vehicle；
According to the driving motor failure conditions of the distributed-driving electric automobile and the vehicle parameter, each drive is determined
The dtc signal of dynamic motor；
Turning for each driving motor of the distributed-driving electric automobile is adjusted according to the dtc signal of each driving motor
Square.
Optionally, the driving motor failure conditions for obtaining distributed-driving electric automobile, before further include:
Obtain the motor failure factor of each electric machine controller；
The failure conditions of each driving motor of distributed-driving electric automobile are determined according to the value of the motor failure factor；
When motor failure factor value is 1, corresponding driving motor no-failure is determined；When motor failure factor value is 0, determine
Corresponding driving motor fails.
Optionally, described to be joined according to the driving motor failure conditions of the distributed-driving electric automobile and the vehicle
Number, determines the dtc signal of each driving motor, specifically includes:
Obtain the total driving torque of vehicle；The total driving torque of vehicle is that the throttle of the distributed-driving electric automobile is stepped on
The corresponding total driving torque of plate aperture；
According to the vehicle parameter, determine that the broad sense of vehicle adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that single motor fails, according to the vehicle
Total driving torque and the broad sense add yaw moment, utilize formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that heteropleural bi-motor fails, according to described
The total driving torque of vehicle and the broad sense add yaw moment, utilize formulaDetermine the dtc signal of each driving motor
Optionally, described according to the vehicle parameter, it determines that the broad sense of vehicle adds yaw moment, specifically includes:
Vehicle front wheel angle is determined according to steering wheel for vehicle corner；
According to the vehicle front wheel angle and the speed, the phase under vehicle's current condition is determined based on two-freedom model
Hope yaw velocity；
According to the practical yaw velocity of vehicle and the expectation yaw velocity, the vehicle is determined using pid control algorithm
Broad sense add yaw moment.
The present invention also provides a kind of control systems of distributed-driving electric automobile under motor failure state, comprising:
Driving motor failure conditions obtain module, for obtaining the driving motor failure feelings of distributed-driving electric automobile
Condition；The driving motor failure conditions include: single motor failure, the failure of heteropleural bi-motor and uncontrollable failure；It is described uncontrollable
Failure includes the failure of ipsilateral bi-motor, three motor failures and four motor failures；
First dtc signal determining module, the driving motor failure conditions for working as the distributed-driving electric automobile are
When uncontrollable failure, determine that the dtc signal of all driving motors is zero；
Vehicle parameter obtains module, is single electricity for the driving motor failure conditions when the distributed-driving electric automobile
When machine failure or heteropleural bi-motor fail, the vehicle parameter of the distributed-driving electric automobile is obtained；The vehicle parameter packet
Include steering wheel for vehicle corner, speed and the practical yaw velocity of vehicle；
Second dtc signal determining module, for the driving motor failure conditions according to the distributed-driving electric automobile
With the vehicle parameter, the dtc signal of each driving motor is determined；
Torque adjustment module, for adjusting the distributed-driving electric automobile according to the dtc signal of each driving motor
The torque of each driving motor.
Optionally, further includes:
Motor failure because of sub-acquisition module, for the driving motor failure conditions for obtaining distributed-driving electric automobile it
Before, obtain the motor failure factor of each electric machine controller；
Driving motor failure conditions determining module, for determining that distributed driving is electronic according to the value of the motor failure factor
The failure conditions of each driving motor of automobile；When motor failure factor value is 1, determine corresponding driving motor without mistake
Effect；When motor failure factor value is 0, determine that corresponding driving motor fails.
Optionally, the second dtc signal determining module, specifically includes:
The total driving torque acquiring unit of vehicle, for obtaining the total driving torque of vehicle；The total driving torque of vehicle is institute
State the corresponding total driving torque of gas pedal aperture of distributed-driving electric automobile；
Broad sense adds yaw moment determination unit, for determining that the broad sense of vehicle adds sideway according to the vehicle parameter
Torque；
First dtc signal determination unit, for the driving motor failure feelings when the distributed-driving electric automobile
When condition is that single motor fails, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
Second dtc signal determination unit, for the driving motor failure feelings when the distributed-driving electric automobile
When condition is that heteropleural bi-motor fails, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine the dtc signal of each driving motor
Optionally, the broad sense is added yaw moment determination unit and is specifically included:
Vehicle front wheel angle determines subelement, for determining vehicle front wheel angle according to steering wheel for vehicle corner；
It is expected that yaw velocity determines subelement, for being based on two certainly according to the vehicle front wheel angle and the speed
The expectation yaw velocity under vehicle's current condition is determined by degree model；
Broad sense adds yaw moment and determines subelement, for according to the practical yaw velocity of vehicle and the expectation yaw angle
Speed determines that the broad sense of the vehicle adds yaw moment using pid control algorithm.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Faults-tolerant control side when the present invention is the driving motor failure for four hub motor distributed-driving electric automobiles
Method ensure that the original dynamic property of vehicle by total torque constraint in most cases, pass through additional yaw moment constraint
The stability that ensure that vehicle, without carrying out intervention control to steering system, still is able in the case where there is motor failure
Itself dynamic property and Yaw stability are kept, to ensure that the driving feel of driver, four hub motors can be distributed
Formula driving electric car control effectively.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow diagram of the control method of distributed-driving electric automobile under motor failure state of the present invention；
Fig. 2 is the structural schematic diagram of the control system of distributed-driving electric automobile under motor failure state of the present invention；
Fig. 3 is the flow diagram of present invention specific implementation case；
Fig. 4 is the schematic diagram of two-freedom model in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Present invention is generally directed to be that the driving motor of four hub motors/wheel motor driving automobile fails when progress
Corresponding control is finally that the method being reconstructed by the remaining driving motor torque to vehicle is realized.It is of the invention first
In include hardware device have: four wheel hub/wheel motor electric machine controllers, steering wheel for vehicle rotary angle transmitter, vehicle are horizontal
Pivot angle velocity sensor, whole vehicle controller.
Four electric machine controllers, which are mounted on vehicle chassis, passes to full-vehicle control for the motor failure factor by Can line
Device.The motor failure factor herein is whether motor given by the fault diagnosis module of electric machine controller itself fails mark
Whether position, the module belong to the prior art, can work for the motor that electric machine controller is provided according to motor current failure state
Zone bit information, the motor failure factor is 0 when motor failure, and the motor failure factor is 1 when motor is normal.The controller receives
The torque control signal of entire car controller generates motor torque；Steering wheel for vehicle rotary angle transmitter is mounted on steering wheel for vehicle it
Steering wheel angle signal is transmitted to entire car controller by Can line；Yaw rate sensor is mounted on vehicle centroid position
It sets and yaw velocity value is nearby passed to by entire car controller by Can line；Last entire car controller is mounted in vehicle fore cabin,
It is connected with four electric machine controllers by Can line and gives four electric machine controller transmissions corresponding torque instruction, the present invention
Control method be integrated in the controller, and original control strategy will provide vehicle total torque demand and vehicle speed information.
Fig. 1 is the flow diagram of the control method of distributed-driving electric automobile under motor failure state of the present invention.Such as
Shown in Fig. 1, the control method the following steps are included:
Step 100: obtaining the driving motor failure conditions of distributed-driving electric automobile.To driving motor failure conditions into
The process of row judgement is as follows: firstly, obtaining the motor failure factor of each electric machine controller；Then, according to the motor failure factor
Value determine distributed-driving electric automobile each driving motor failure conditions；When motor failure factor value is 1,
Determine corresponding driving motor no-failure；When motor failure factor value is 0, determine that corresponding driving motor fails.
There are four driving motors for the electric car that the present invention is directed to, and when there is driving motor to fail, driving motor is lost
Effect situation can be divided into following three categories.
1) single motor fails
It is 0 that four motor failure factors, which have one, at this time, i.e. failure conditions occurs in single motor.
2) heteropleural bi-motor fails
It is at this time 0 there are two the Failure Factors of four motors, and the motors of two failures are located at the two sides of vehicle.
3) uncontrollable failure
In the case of such vehicle disablement, vehicle is unable to control, by the failure of ipsilateral bi-motor, three motor failures and most serious
Four motor failure situations formed.
When no motor failure, four motor failure factors are 1 to fail without motor at this time, and vehicle turns according to normal
Square distribution.
Step 200: when the driving motor failure conditions of distributed-driving electric automobile are uncontrollable failure, determining all
The dtc signal of driving motor is zero.For uncontrollable failure conditions, in order to ensure the safety of vehicle, entire car controller gives four
The torque command that a electric machine controller issues is 0, so that vehicle can quickly stop.
Step 300: when the driving motor failure conditions of distributed-driving electric automobile are that single motor fails or heteropleural is double electric
When machine fails, the vehicle parameter of distributed-driving electric automobile is obtained.The vehicle parameter includes steering wheel for vehicle corner, speed
With the practical yaw velocity of vehicle.
Step 400: according to the driving motor failure conditions and vehicle parameter of distributed-driving electric automobile, determining each drive
The dtc signal of dynamic motor.The original dynamic property to guarantee vehicle is constrained here by total torque, by adding yaw moment
Constraint determines the dtc signal of each driving motor to guarantee the stability of vehicle, specific as follows:
Obtain the total driving torque of vehicle；The total driving torque of vehicle is that the throttle of the distributed-driving electric automobile is stepped on
The corresponding total driving torque of plate aperture；
According to the vehicle parameter, determine that the broad sense of vehicle adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that single motor fails, according to the vehicle
Total driving torque and the broad sense add yaw moment, utilize formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that heteropleural bi-motor fails, according to described
The total driving torque of vehicle and the broad sense add yaw moment, utilize formulaDetermine the dtc signal of each driving motor
Step 500: each driving motor of distributed-driving electric automobile is adjusted according to the dtc signal of each driving motor
Torque.
Fig. 2 is the structural schematic diagram of the control system of distributed-driving electric automobile under motor failure state of the present invention.Such as
Shown in Fig. 2, the control system includes with flowering structure:
Driving motor failure conditions obtain module 201, and the driving motor for obtaining distributed-driving electric automobile fails
Situation；The driving motor failure conditions include: single motor failure, the failure of heteropleural bi-motor and uncontrollable failure；It is described can not
Control failure includes the failure of ipsilateral bi-motor, three motor failures and four motor failures；
First dtc signal determining module 202, for the driving motor failure feelings when the distributed-driving electric automobile
When condition is uncontrollable failure, determine that the dtc signal of all driving motors is zero；
Vehicle parameter obtains module 203, is for the driving motor failure conditions when the distributed-driving electric automobile
When single motor failure or heteropleural bi-motor fail, the vehicle parameter of the distributed-driving electric automobile is obtained；The vehicle ginseng
Number includes steering wheel for vehicle corner, speed and the practical yaw velocity of vehicle；
Second dtc signal determining module 204, for being failed according to the driving motor of the distributed-driving electric automobile
Situation and the vehicle parameter, determine the dtc signal of each driving motor；
Torque adjustment module 205, it is electronic for adjusting the distributed driving according to the dtc signal of each driving motor
The torque of each driving motor of automobile.
The system also includes:
Motor failure because of sub-acquisition module, for the driving motor failure conditions for obtaining distributed-driving electric automobile it
Before, obtain the motor failure factor of each electric machine controller；
Driving motor failure conditions determining module, for determining that distributed driving is electronic according to the value of the motor failure factor
The failure conditions of each driving motor of automobile；When motor failure factor value is 1, determine corresponding driving motor without mistake
Effect；When motor failure factor value is 0, determine that corresponding driving motor fails.
The second dtc signal determining module 204 specifically includes:
The total driving torque acquiring unit of vehicle, for obtaining the total driving torque of vehicle；The total driving torque of vehicle is institute
State the corresponding total driving torque of gas pedal aperture of distributed-driving electric automobile；
Broad sense adds yaw moment determination unit, for determining that the broad sense of vehicle adds sideway according to the vehicle parameter
Torque；
First dtc signal determination unit fails for the driving motor when the distributed-driving electric automobile
When situation is that single motor fails, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
Second dtc signal determination unit, the driving motor failure conditions for working as the distributed-driving electric automobile are
When heteropleural bi-motor fails, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine the dtc signal of each driving motor
The broad sense is added yaw moment determination unit and is specifically included:
Vehicle front wheel angle determines subelement, for determining vehicle front wheel angle according to steering wheel for vehicle corner；
It is expected that yaw velocity determines subelement, for being based on two certainly according to the vehicle front wheel angle and the speed
The expectation yaw velocity under vehicle's current condition is determined by degree model；
Broad sense adds yaw moment and determines subelement, for according to the practical yaw velocity of vehicle and the expectation yaw angle
Speed determines that the broad sense of the vehicle adds yaw moment using pid control algorithm.
The solution of the present invention is further illustrated below with reference to a specific implementation case.
Fig. 3 is the flow diagram of present invention specific implementation case.As shown in figure 3, the implementation case the following steps are included:
Step 1: the motor failure factor of entire car controller acquisition electric machine controller, and lost according to collected motor
It imitates the factor and carries out the judgement of vehicle driving motor failure conditions.
1) without motor failure
Four motor failure factors are 1 to fail without motor at this time, and vehicle is not touched according to normal torque distribution
Failure Control program is sent out, second step is not entered.
2) single motor fails
It is 0 that four motor failure factors, which have one, at this time, i.e., failure conditions occurs in single motor, and such failure conditions occur
When triggering Failure Control program enter.
3) heteropleural bi-motor fails
It is at this time 0 there are two the Failure Factors of four motors, and the motors of two failures are located at the two sides of vehicle, this
Failure Control program is triggered when class failure conditions occur.
4) uncontrollable failure
In the case of such vehicle disablement, vehicle is unable to control, by the failure of ipsilateral bi-motor, three motor failures and most serious
Four motor failure situations formed, such failure conditions trigger Failure Control strategy.
Step 2: entire car controller, after obtaining the current failure mode of vehicle, entire car controller can be controlled to failure is entered
The three categories failure conditions of system select corresponding control method.
For uncontrollable failure conditions, in order to ensure the safety of vehicle, entire car controller is issued to four electric machine controllers
Torque command be 0 so that vehicle can quickly stop, do not enter the 4th step under the failure conditions and return to the first step.
After distinguishing for single motor failure conditions, enter corresponding single motor Failure Control method in the 4th step；Distinguishing
To enter the heteropleural bi-motor Failure Control method in the 4th step after heteropleural bi-motor failure conditions.
Step 3: the target of the control for above two failure conditions, seeks to the driven nature and sideway that guarantee vehicle
Stability.And the holding of vehicle traction determines that Yaw stability is determined by broad sense yaw moment by vehicle broad sense longitudinal force,
The torque relationship of four driving motors of above-mentioned generalized force and Generalized Moment and vehicle is as follows:
In formula, R0For vehicle wheel roll radius；BfFor front tread；BrFor rear tread；TexpIt is vehicle for the total driving torque of vehicle
The total motor driven torque square of the vehicle demand that controller provides, the pedal parsing module in entire car controller；Δ M is dimension
Broad sense needed for holding vehicle yaw stability adds yaw moment；λ1For the Failure Factor of left drive motor, λ2To be driven before the right side
The Failure Factor of motor, λ3For the Failure Factor of left back driving motor, λ4For the Failure Factor of driving motor behind the right side；T1It is left front
The dtc signal of driving motor, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For
The dtc signal of driving motor behind the right side.
Its broad sense longitudinal force is calculated by the total driving torque of vehicle that entire car controller itself pedal parsing strategy provides at this time
It obtains, broad sense adds obtaining for yaw moment and needs to calculate by corresponding control strategy.
Its broad sense adds yaw moment it is expected that yaw velocity show that broad sense is attached by PID control for control target
Yaw moment is added to show that process is as follows.
Entire car controller obtains steering wheel for vehicle corner according to steering wheel angle sensor information first, and passes through mould of tabling look-up
Type obtains vehicle front wheel angle；Furthermore the speed that vehicle is obtained according to vehicle speed calculation module in entire car controller, freely based on two
Degree model obtains the value of the expectation yaw velocity under vehicle's current condition, it is expected that the calculation formula of the value of yaw velocity is such as
Shown in lower:
L in formulafAnd LrRespectively distance of the vehicle centroid to front axle and rear axle, vxFor longitudinal direction of car speed, m is vehicle matter
Amount,WithThe respectively tire cornering stiffness of front axle and rear axle, tire cornering stiffness herein are two tires of front axle/rear axle
The sum of cornering stiffness, δ is the front wheel angle of vehicle, γdIt is expected yaw velocity.
Fig. 4 is the schematic diagram of two-freedom model.As shown in figure 4, two-freedom model is that Vehicle Engineering is existing
Prior art in terms of stability control, two-freedom model can show the response characteristic in Vehicular linear region, this characteristic
For vehicle feature known to most of drivers.Two-freedom model has the freedom degree in lateral and sideway both direction, indulges
Vehicle speed on direction is at the uniform velocity.It is the single wheel vehicle model for carrying out four-wheel car model to obtain after simplifying.
The active force that its vehicle is subject to only have front and back tyre side to power act on, side force of tire by tire side drift angle institute
It determines, and slip angle of tire is determined by the displacements state such as yaw velocity of vehicle.It therefore can be with based on above-mentioned relation
Column calculate the dynamics formula of two degrees of freedom auto model.Formula can be finally obtained by carrying out dynamic analysis to model
(2) vehicle shown in certain speed and steady-state yaw rate demand corresponding under steering wheel angle state, and finally with
Target yaw rate of the demand as vehicle.
After formula (2) obtains desired yaw velocity, it would be desirable to the cross that yaw velocity and entire car controller receive
The practical yaw velocity of the vehicle of pivot angle velocity sensor makes the difference e=γd- γ, after be input in pid control algorithm to obtaining
Its broad sense adds the value of yaw moment.Its calculation formula is as follows:
Kp、Ki、KdThe coefficient of ratio respectively in pid control algorithm, integral and derivative module, the coefficient are field calibration
Definite value.
So far total driving torque needed for vehicle adds yaw moment with broad sense and has shown that above-mentioned control amount can enter
In specific control method in 4th step.
Step 4: being selected in corresponding control method respectively after being determined according to the failure conditions in second step, two kinds of mistakes
The control method for imitating situation is as follows:
1. single motor Failure Control method
After above-mentioned second step determines vehicle disablement situation for single motor failure, the control method of this part is with third step
In the total driving torque of vehicle that is calculated and broad sense to add yaw moment be target, pass through the constraint equation solution in formula (1)
Calculate the dtc signal of the distribution of each wheel.
Due in formula (1) at this time there are two equation but there are three unknown number because it fails, the torque distribution of motor must
Be set to 0, formula 1 can have countless solutions at this time, therefore introduce at this time a rule do not fail side distribution two motor torques
It is equal in magnitude.Therefore it is as follows its corresponding accounting equation can be provided according to the rule:
By formula (4) it is found that passing through the equal-sized rule of side motor torque of not failing of introducing after there is single motor failure
Then, it can make above-mentioned formula (4) that there is unique solution, after obtaining its each driving motor dtc signal, entire car controller will be upper
It states dtc signal and is sent to each electric machine controller.
2. heteropleural two-wheel Failure Control method
After above-mentioned second step is determined as heteropleural two-wheel failure conditions, the control method of this part is to calculate in third step
It is target that the total driving torque of the vehicle obtained and broad sense, which add yaw moment, is calculated respectively by the constraint equation in formula (1)
The dtc signal of the distribution of wheel.Since vehicle at this time must be 0 there are two failure its torque of motor, in formula 1 not at this time
Know and keep count of identical as equation number, can obtain corresponding motor dtc signal with direct solution formula 1 at this time, accounting equation is such as
Shown in lower
After each motor torque signal is calculated by formula (5), the motor torque signal that entire car controller is distributed is sent out
Give corresponding electric machine controller.
After above-mentioned control method obtains the corresponding torque instruction signal of each motor, repeats the first step and complete entire control strategy
Circulation.
For distributed-driving electric automobile, due to its equal direct drive of wheel of four wheel hub/wheel motors and certainly
Determined the driving force of wheel, additionally due to vehicle traction motor, that is, hub motor quantity mostly with working environment relatively it is severe therefore its
A possibility that driving motor fails increases.Is there is the case where motor failure in distributed-driving electric automobile in the present invention
Under, itself dynamic property and Yaw stability can still be maintained.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. the control method of distributed-driving electric automobile under a kind of motor failure state characterized by comprising
Obtain the driving motor failure conditions of distributed-driving electric automobile；The driving motor failure conditions include: single motor
Failure, the failure of heteropleural bi-motor and uncontrollable failure；It is described it is uncontrollable failure include ipsilateral bi-motor failure, three motor failures and
Four motor failures；
When the driving motor failure conditions of the distributed-driving electric automobile are uncontrollable failure, all driving motors are determined
Dtc signal be zero；
When the driving motor failure conditions of the distributed-driving electric automobile are that single motor fails or heteropleural bi-motor fails,
Obtain the vehicle parameter of the distributed-driving electric automobile；The vehicle parameter includes steering wheel for vehicle corner, speed and vehicle
Practical yaw velocity；
According to the driving motor failure conditions of the distributed-driving electric automobile and the vehicle parameter, each driving electricity is determined
The dtc signal of machine；
The torque of each driving motor of the distributed-driving electric automobile is adjusted according to the dtc signal of each driving motor.
2. the control method of distributed-driving electric automobile, feature exist under motor failure state according to claim 1
In, the driving motor failure conditions for obtaining distributed-driving electric automobile, before further include:
Obtain the motor failure factor of each electric machine controller；
The failure conditions of each driving motor of distributed-driving electric automobile are determined according to the value of the motor failure factor；Work as electricity
When machine Failure Factor value is 1, corresponding driving motor no-failure is determined；When motor failure factor value is 0, determines and correspond to
Driving motor fail.
3. the control method of distributed-driving electric automobile, feature exist under motor failure state according to claim 2
In the driving motor failure conditions according to the distributed-driving electric automobile and the vehicle parameter determine each drive
The dtc signal of dynamic motor, specifically includes:
Obtain the total driving torque of vehicle；The total driving torque of vehicle is that the gas pedal of the distributed-driving electric automobile is opened
Spend corresponding total driving torque；
According to the vehicle parameter, determine that the broad sense of vehicle adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that single motor fails, always driven according to the vehicle
Dynamic torque and the broad sense add yaw moment, utilize formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
When the driving motor failure conditions of the distributed-driving electric automobile are that heteropleural bi-motor fails, always driven according to the vehicle
Dynamic torque and the broad sense add yaw moment, utilize formula
Determine the dtc signal of each driving motor
4. the control method of distributed-driving electric automobile, feature exist under motor failure state according to claim 3
In, it is described according to the vehicle parameter, it determines that the broad sense of vehicle adds yaw moment, specifically includes:
Vehicle front wheel angle is determined according to steering wheel for vehicle corner；
According to the vehicle front wheel angle and the speed, determine that the expectation under vehicle's current condition is horizontal based on two-freedom model
Pivot angle speed；
According to the practical yaw velocity of vehicle and the expectation yaw velocity, the vehicle is determined using pid control algorithm
Broad sense adds yaw moment.
5. the control system of distributed-driving electric automobile under a kind of motor failure state characterized by comprising
Driving motor failure conditions obtain module, for obtaining the driving motor failure conditions of distributed-driving electric automobile；Institute
Stating driving motor failure conditions includes: single motor failure, the failure of heteropleural bi-motor and uncontrollable failure；The uncontrollable failure packet
Include ipsilateral bi-motor failure, three motor failures and four motor failures；
First dtc signal determining module, being for the driving motor failure conditions when the distributed-driving electric automobile can not
When control failure, determine that the dtc signal of all driving motors is zero；
Vehicle parameter obtains module, is single motor mistake for the driving motor failure conditions when the distributed-driving electric automobile
When effect or heteropleural bi-motor fail, the vehicle parameter of the distributed-driving electric automobile is obtained；The vehicle parameter includes vehicle
Steering wheel angle, speed and the practical yaw velocity of vehicle；
Second dtc signal determining module, for according to the distributed-driving electric automobile driving motor failure conditions and institute
Vehicle parameter is stated, determines the dtc signal of each driving motor；
Torque adjustment module, it is each for adjusting the distributed-driving electric automobile according to the dtc signal of each driving motor
The torque of driving motor.
6. the control system of distributed-driving electric automobile, feature exist under motor failure state according to claim 5
In, further includes:
Motor failure is because of sub-acquisition module, for before the driving motor failure conditions for obtaining distributed-driving electric automobile,
Obtain the motor failure factor of each electric machine controller；
Driving motor failure conditions determining module, for determining distributed-driving electric automobile according to the value of the motor failure factor
Each driving motor failure conditions；When motor failure factor value is 1, corresponding driving motor no-failure is determined；When
When motor failure factor value is 0, determine that corresponding driving motor fails.
7. the control system of distributed-driving electric automobile, feature exist under motor failure state according to claim 6
In the second dtc signal determining module specifically includes:
The total driving torque acquiring unit of vehicle, for obtaining the total driving torque of vehicle；The total driving torque of vehicle is described point
The corresponding total driving torque of gas pedal aperture of cloth driving electric car；
Broad sense adds yaw moment determination unit, for determining that the broad sense of vehicle adds yaw moment according to the vehicle parameter；
First dtc signal determination unit, for working as the driving motor failure conditions of the distributed-driving electric automobile
When failing for single motor, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine each driving motor
Dtc signalWherein, equal with the not ipsilateral torque of two driving motors of failure motor, λ1For left drive motor
Failure Factor, λ2For the Failure Factor of driving motor before the right side, λ3For the Failure Factor of left back driving motor, λ4To drive electricity behind the right side
The Failure Factor of machine；BfFor front tread, BrFor rear tread, R0For vehicle wheel roll radius, T1Believe for the torque of left drive motor
Number, T2For the dtc signal of driving motor before the right side, T3For the dtc signal of left back driving motor, T4For turn of driving motor behind the right side
Square signal, TexpFor the total driving torque of vehicle, Δ M is that broad sense adds yaw moment；
Second dtc signal determination unit, for working as the driving motor failure conditions of the distributed-driving electric automobile
When failing for heteropleural bi-motor, yaw moment is added according to the total driving torque of the vehicle and the broad sense, utilizes formulaDetermine the dtc signal of each driving motor
8. the control system of distributed-driving electric automobile, feature exist under motor failure state according to claim 7
In the broad sense is added yaw moment determination unit and specifically included:
Vehicle front wheel angle determines subelement, for determining vehicle front wheel angle according to steering wheel for vehicle corner；
It is expected that yaw velocity determines subelement, for being based on two degrees of freedom according to the vehicle front wheel angle and the speed
Model determines the expectation yaw velocity under vehicle's current condition；
Broad sense adds yaw moment and determines subelement, for according to the practical yaw velocity of vehicle and expectation yaw angle speed
Degree determines that the broad sense of the vehicle adds yaw moment using pid control algorithm.
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