Research on failure classification and control strategy of four-wheel independent drive electric vehicle drive system

To ensure the stability and drivability of the four-wheel independent drive electric vehicle when the drive system fails, a rule-based torque redistribution strategy is proposed. Failure conditions considering partial failure are classified into four categories. The failure mode can be judged by the fault factors, and the corresponding torque redistribution strategy is designed according to the reset fault factors. Then, hierarchical control is adopted, including upper and lower layers. Base on the torque redistribution strategies, the additional yaw moment distributed to individual drive motors is calculated. The co-simulation of Carsim and Matlab/Simulink is used to simulate the proposed torque redistribution control strategy by selecting the conditions of straight line, turning and sine wave. The simulation results show that the proposed control strategy can improve the utilization of drive system and ensure the stability and drivability of vehicle when the drive system fails.