Fault Tolerant Control of Actuator Failure in Distributed Drive Electric Vehicle

Research object of the paper is hub-drive electric vehicle. A vehicle body yaw stability control strategy based on sliding mode variable structure theory was proposed for distributed drive electric vehicles, state parameter monitoring and a fault tolerant control method for actuator failure based on parameter estimation and multi-agent system is designed. The existing motor failure control methods and vehicle state estimation algorithms are analyzed, and the real-time driving state of the vehicle is determined based on Unscented Kalman filter(UKF). The failure control rules and fault-tolerant coordinated control framework are constructed by defining the driving wheel agents, and the failure model is established. Combined with the parameter estimation algorithm, keeping the normal driving state of the vehicle after the actuator fails. The simulation results of line and curve failure driving conditions show the dynamic parameters of vehicle body can be stabilized in a controllable with this strategy. Which is further improvement the fault-tolerant control ability of vehicle actuators and vehicle handling stability.