摘要：AbstractDistributed drive electric vehicle is driven by multiple motors, which makes it show advantages in improving vehicle performance that traditional vehicles do not have, but it also brings new problems on the reliability of the system. This paper aims at the fault-tolerant control problem of driven system for distributed drive electric vehicle, builds a distributed motor driven vehicle model based on Carsim and Simulink. By analyzing the simulation results of failure conditions, a fault tolerant controller based on hierarchical control is designed. The upper control variable is the yaw rate, and the desired additional yaw moment is decided by the sliding mode control method. The lower layer adopts torque transfer distribution strategy. The results show that the controller can effectively improve the driving stability of the vehicle in different failure situations.
关键词：KeywordsDistributed Drive Electric VehicleFault Tolerant ControlFailure MechanismSliding Mode Control
