Faults and failures in driving motors of four-wheel-independently-actuated (FWIA) electric vehicles can lead to hazardous accidents. To address this challenge, this paper introduces a novel “Backup Pattern” by grouping the driving motors into front and rear traction subsystems. This “Backup Pattern” ensures the optimal allocation of driving torque between functional motors, providing a reliable and effective mechanism to mitigate the impact of faulty motors on the vehicle’s overall performance. Based on the torque distribution strategy, a composite controller structure is presented, utilizing the second-order sliding mode algorithm to design both the traction controllers for longitudinal and differential torques and an active-front-steering (AFS) controller for additional steering angle. The composite controller not only enhances the vehicle’s maneuverability and stability but also copes with uncertainties and disturbances in the vehicle system. Hardware-in-loop (HiL) tests validate the superior effectiveness and robustness of the designed controller, showcasing its ability to enhance FWIA electric vehicle performance compared to the conventional first-order sliding mode control-based method.

中文翻译：

---

FWIA电动汽车牵引系统备份模式，保证电机故障时的操纵性和稳定性

四轮独立驱动（FWIA）电动汽车驱动电机的故障和故障可能导致危险事故。为了应对这一挑战，本文引入了一种新颖的“备份模式”，将驱动电机分为前后牵引子系统。这种“备用模式”确保了功能电机之间驱动扭矩的最佳分配，提供了可靠有效的机制来减轻故障电机对车辆整体性能的影响。基于扭矩分配策略，提出了一种复合控制器结构，利用二阶滑模算法设计了纵向扭矩和差动扭矩的牵引力控制器以及附加转向角的主动前轮转向（AFS）控制器。复合控制器不仅增强了车辆的操纵性和稳定性，还能应对车辆系统的不确定性和扰动。硬件在环（HiL）测试验证了所设计的控制器的卓越有效性和鲁棒性，展示了与传统的一阶滑模控制方法相比，其增强 FWIA 电动汽车性能的能力。