摘要
提出了一种基于轮毂电机无位置传感器估测算法的故障诊断及容错控制策略,以便在速度传感器故障时,保证电动汽车操控稳定性。建立了3自由度车辆动力学模型,分析了速度传感器故障对车辆动力学性能的影响。采用阈值特征法诊断传感器故障及其类型,利用磁链观测器无感算法实现故障容错控制,设计了功率角渐进补偿的状态切换,来实现驱动转矩的平滑过渡。通过Matlab-CarSim仿真平台,验证了直行工况及双移线工况下的速度传感器故障容错控制。结果表明:在设定工况下,该控制策略可在3 ms内恢复并维持100%电机转矩输出,消除车体0.77(°)/s的横摆运动角速度,从而保证车辆行驶稳定性。
A fault-tolerant diagnosis and control strategy was proposed for direct drive in-wheel electric vehicle based on sensorless algorithm to improve the vehicle driving performance and the handling stability when the speed sensor fails.A three-degree-of-freedom vehicle dynamics model was established to analyze the influences of speed sensor fault on the vehicle dynamic performances.A thresholding characteristic method was applied for diagnosing sensor failure and its type,and a sensorless algorithm was used based on the flux observer to estimate the rotor position angle.A state-switching method was designed based on power angle progressive compensation for smooth torque transition.The speed sensor fault-tolerant control processes under straightforward test condition and double-lane change test condition were verified by Matlab-CarSim co-simulation platform.The results show that the proposed control strategy restores and maintains 100%motor torque output within 3 ms,and eliminate the yaw angular velocity of 0.77(°)/s,and therefore,improves vehicle driving performances.
作者
邵锦才
何致远
王子辉
SHAO Jincai;HE Zhiyuan;WANG Zihui(School of Automation and Electrical Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,China)
出处
《汽车安全与节能学报》
CAS
CSCD
北大核心
2022年第1期78-85,共8页
Journal of Automotive Safety and Energy
基金
浙江省基础公益研究计划项目(LGG22E070006)
浙江省市场监督管理局科研计划项目(ZC2021B098)
浙江省市场监督管理局“雏鹰计划”培育项目(CY2022358)。
关键词
电动汽车
直驱轮毂电机
速度传感器
故障诊断
容错控制
electric vehicles(EV)
direct drive in-wheel motors
speed sensors
fault diagnosis
fault tolerant control
