四轮独立转向分布式驱动电动汽车单轮转向失效行驶稳定性控制

(1) 基于角模块架构的四轮独立转向分布式驱动电动汽车具有其他车型无法比拟的机动性和通过性，但全线控底盘系统执行器数量繁多、电子元器件布置拥挤，易于发生转向系统执行机构驱动电机失效等问题。若出现任意车轮的转向系统失效后不能及时对其他车轮转向执行机构进行合理控制，将会导致跑偏，严重影响车辆行驶稳定性，因此，有必要针对单轮转向失效工况采取一定的容错控制。

(2) 通过分析后轮转向对于车身稳定性的影响，设计了稳态转向和斜向行驶两种转向方式参考模型，从而有效保证轮胎侧偏角处于线性区间，提高了轮胎的稳定性裕量。基于四轮独立转向分布式驱动汽车执行机构高度冗余的结构优势，提出了轮胎力可分配重构的分层容错控制方法，其上层控制器通过参数自适应递归非奇异终端滑模控制器增加控制精度和鲁棒性，下层控制器以最小化轮胎负荷率作为优化目标实现车轮转角和驱动/制动力矩的重新分配。研究表明，所提出控制策略可以在单轮转向电机失效后，通过控制其余车轮转向执行机构实现控制重构，从而有效保持车辆的正常行驶状态和方向。

(3) 利用离线仿真和控制器在环仿真验证了所提出控制策略在中高速单移线换道单轮转向失效工况下的控制效果，证明了其具有及时可靠的行驶稳定性控制能力。本文所研究工况依靠提出的稳态转向的控制方式即可达到预期的容错控制效果，然而，对于极限转向出现过大轮胎侧偏角的工况下，则必须采用斜向行驶的控制方式来保证车辆的行驶稳定性，该方面的研究将是接下来重点开展的内容。

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