公开(公告)号：US20220032929A1

公开(公告)日：2022-02-03

申请号：US17320022

申请日：2021-05-13

Applicant: Beijing Institute of Technology

Inventor： Weida WANG ,  Chao YANG ,  Yuhang ZHANG ,  Wei WANG ,  Zheng MA ,  Changle XIANG

IPC: B60W50/02 ,  B60W60/00 ,  B60W50/038 ,  B60W30/06 ,  B60W10/18 ,  B60W10/08 ,  B60W10/119

Abstract: The present disclosure provides a fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure, comprising: first, realizing real-time acquisition of an output torque and a fault coefficient of a hub motor through each vehicle-mounted sensor and each parameter observer; then determining whether the vehicle power system enters a fault state, and if the hub motor is in the fault state, entering a set fault-tolerant tracking link; and judging the fault mode of the current vehicle, using different control logics for different fault modes, and finally realizing fault-tolerant control or emergency risk avoiding of the vehicle. According to the present disclosure, aiming at different fault conditions of a power system of the distributed electric drive autonomous vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle as much as possible, and the safety of passengers and goods is guaranteed.

公开(公告)号：US20210061249A1

公开(公告)日：2021-03-04

申请号：US16896461

申请日：2020-06-09

Applicant: Beijing Institute of Technology ,  Baotou Sansi Technology Development Co., Ltd.

Inventor： Weida WANG ,  Changle XIANG ,  Lijin HAN ,  Hui LIU ,  Donghao ZHANG ,  Chao YANG ,  Shaoping LV

IPC: B60W10/08 ,  H02J7/00

Abstract: The present invention discloses a real-time optimization control method for an electro-mechanical transmission system, and relates to the field of electro-mechanical transmission technologies. The method includes the following steps: (S0) starting; (S1) state observation: a current operating state of each element of the electro-mechanical transmission system is obtained through state observation; (S2) dynamic prediction: a feasible operating range of each element of the electro-mechanical transmission system is obtained through dynamic prediction; (S3) optimal decision: an optimal control command of each element in the optimal decision is formulated and executed; (S4) feedback correction: feedback correction is performed on control amounts of a motor and an engine of the electro-mechanical transmission system by using state deviations; and (S5) determining whether feedback correction meets a requirement, and if feedback correction meets the requirement, ending the process, or if feedback correction does not meet the requirement, repeating (S1).