A new motors fault tolerance control strategy to 4WID electric vehicle

Four wheels independent driving (4WID) electric vehicle uses four motors. if some motors get faults, the whole vehicle would loss the stability to cause casualties. To solve the problem mentioned above, the fault tolerance control strategy of two motors of the 4WID electric vehicle running in straight line was studied and solved in this paper. The two-motor-fault modes were listed in all its aspects and the mathematic models of seven degrees of freedom were established. To achieve a good driving stability and dynamic characteristic with motors in failure state, the motors fault tolerance control strategies were proposed based on the performance of the 4WID electric vehicle and simulated by MATLAB/Simulink. The results show that the control strategies for torque re-allocation with motors in failure states can meet the designed demands, which provides a basis for the designing of whole vehicle´s control strategy of the 4WID electric vehicle.