Volume 24 Issue 6
Dec.  2024
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XUE Hong-tao, ZHANG Yu-le, SONG Zi-wei, FENG Han. Fault-tolerant control of four-wheel hub-drive electric vehicles based on MPC-MSCA[J]. Journal of Traffic and Transportation Engineering, 2024, 24(6): 148-158. doi: 10.19818/j.cnki.1671-1637.2024.06.010
Citation: XUE Hong-tao, ZHANG Yu-le, SONG Zi-wei, FENG Han. Fault-tolerant control of four-wheel hub-drive electric vehicles based on MPC-MSCA[J]. Journal of Traffic and Transportation Engineering, 2024, 24(6): 148-158. doi: 10.19818/j.cnki.1671-1637.2024.06.010
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Fault-tolerant control of four-wheel hub-drive electric vehicles based on MPC-MSCA

doi: 10.19818/j.cnki.1671-1637.2024.06.010

  • School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China

Funds:

National Natural Science Foundational of China 52272367

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  • Author Bio:

    XUE Hong-tao (1978-), male, professor, PhD, xueht@ujs.edu.cn

  • Received Date: 2024-07-06
  • Publish Date: 2024-12-25
    Abstract
  • In response to the safety hazards posed by local in-wheel motor failures in four-wheel hub-drive electric vehicles, a fault-tolerant control method based on model predictive control-multi system collaborative allocation (MPC-MSCA) was proposed. The method was designed to address operating conditions characterized by insufficient output capacity following local in-wheel motor failures. A 14-degree-of-freedom (DOF) four-wheel hub-drive vehicle dynamics model was constructed, comprising a 6-DOF vehicle body model and four 2-DOF wheel models. A fault-tolerant control method was designed by referencing a 2-DOF vehicle model, which included a motion tracking layer and a torque distribution layer. The motion tracking layer was utilized to calculate the total longitudinal force and additional yaw moment required for normal vehicle operations. In the torque distribution layer, an optimization allocation scheme and a MSCA scheme were designed to respectively address operating conditions of sufficient and insufficient output capacity following local in-wheel motor failures. The objective function, constraints, and control variables of the MSCA control strategy were highlighted. The proposed MPC-MSCA control method was validated through co-simulation with Simulink/MATLAB and CarSim under two operating conditions: straight-line driving and double lane change driving. Research results show that the method reduces the average yaw velocity error of vehicles by 31.6% compared with the traditional method in a straight-line driving environment, effectively ensuring the vehicle's ability to drive straight when there is a local in-wheel motor failure. In a double lane change driving environment, the average sideslip angle error and average yaw velocity error reduce by 7.4% and 6.9%, respectively, improving the vehicle's handling stability when there is a local in-wheel motor failure. Therefore, the proposed fault-tolerant controller can ensure the four-wheel hub-drive electric vehicle meeting the handling stability and safety requirements under the condition of one or two in-wheel motor failure.

     

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