Design of Nonlinear Observer for Distributed Drive Electric Vehicle with Actuator Faults

doi:10.12068/j.issn.1005-3026.2026.20240152

Abstract

Abstract:

A robust fault diagnosis algorithm based on an observer was designed for the nonlinear dynamic system of distributed drive electric vehicles with actuator faults. Firstly， by considering the actuator fault and system disturbance， a mathematical model of 7 degrees of freedom vehicle system was established. Then， a fault diagnosis strategy based on a nonlinear observer was designed by using linear matrix inequality and Lyapunov function to realize multiple estimations of system state， disturbance information， and fault factor， and the relevant theoretical proof was given. Finally， by referring to the actual driving conditions of the vehicle， the co-simulation was carried out by MATLAB/Simulink and CarSim. The results show that the designed observer can accurately diagnose and estimate the actuator faults， rapidly track the actual operating state of the system， and improve the anti-interference ability of the system.

Key words: distributed drive electric vehicle, actuator fault, nonlinear observer, linear matrix inequality, fault diagnosis

CLC Number:

TP 273

Hong-wei WANG, Xin-yu JI, Jin-shuo SONG. Design of Nonlinear Observer for Distributed Drive Electric Vehicle with Actuator Faults[J]. Journal of Northeastern University(Natural Science), 2026, 47(1): 60-66.

Figures/Tables 8

Fig.1 Vehicle dynamics model

Fig.2 Longitudinal velocity vx and its estimation values

Fig.3 Lateral velocity vy and its estimation values

Fig.4 Yaw velocity ω and its estimation values

Fig.5 Fault factor η and its estimation values

Fig.6 ξ1(t) and its estimation values

Fig.7 ξ2(t) and its estimation values

Fig.8 ξ3(t) and its estimation values

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