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Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive
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Junqiu Li1, Shengyue Chen1, Jianwen Chen2, Yongxi Yang1, Xiaohan Li1
Automotive Engineering | 2025, 47(4) : 724 - 733
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Automotive Engineering | 2025, 47(4): 724-733
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Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive
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Junqiu Li1, Shengyue Chen1, Jianwen Chen2, Yongxi Yang1, Xiaohan Li1
Affiliations
  • 1 School of Mechanical Engineering，Beijing Institute of Technology，Beijing 100081
  • 2 Jianglu Electromechanical Group Co.，Ltd.，Xiangtan 411100
Published: 2025-04-25 doi: 10.19562/j.chinasae.qcgc.2025.04.013
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Distributed electrically-driven heavy-duty vehicles achieve compound steering through the differential between the steering assist motor and the wheelend drive motor. By means of coordinated control of multiple motors, various active safety control functions are realized and the driver's operational burden is reduced. For the driving safety issues brought about by the failure of the drive motor and the steering assist motor, in this paper a faulttolerant control strategy encompassing mode-switching and faulttolerant torque distribution is proposed. The proposed modeswitching strategy, based on the vehicle pose information, introduces in the yaw rate residual function as the switching condition for the faulttolerant mode. The proposed faulttolerant torque distribution strategy takes into account of the output redundancy and the vehicle's stability to solve for the target output torque of the drive motor and the steering assist motor. Finally, a hardware-in-the-loop simulation platform is established to verify the effectiveness and real-time performance of the control strategy.

distributed drive  /  compound steering  /  actuator failure  /  fault-tolerant control
Junqiu Li, Shengyue Chen, Jianwen Chen, Yongxi Yang, Xiaohan Li. Study on Fault-Tolerant Control Strategy of Composite Steering for Heavy Load Vehicles with Distributed Electric Drive[J]. Automotive Engineering, 2025 , 47 (4) : 724 -733 . DOI: 10.19562/j.chinasae.qcgc.2025.04.013
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Article Info
doi: 10.19562/j.chinasae.qcgc.2025.04.013
  • Receive Date：2024-06-02
  • Online Date：2025-07-08
  • Published：2025-04-25
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  • Received：2024-06-02
  • Revised：2024-10-17
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Affiliations
    1 School of Mechanical Engineering，Beijing Institute of Technology，Beijing 100081
    2 Jianglu Electromechanical Group Co.，Ltd.，Xiangtan 411100
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
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Genus		 种数
Number of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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