(1) 基于角模塊架構的四輪獨立轉向分布式驅動電動汽車具有其他車型無法比擬的機動性和通過性，但全線控底盤系統(tǒng)執(zhí)行器數(shù)量繁多、電子元器件布置擁擠，易于發(fā)生轉向系統(tǒng)執(zhí)行機構驅動電機失效等問題。若出現(xiàn)任意車輪的轉向系統(tǒng)失效后不能及時對其他車輪轉向執(zhí)行機構進行合理控制，將會導致跑偏，嚴重影響車輛行駛穩(wěn)定性，因此，有必要針對單輪轉向失效工況采取一定的容錯控制。

(2) 通過分析后輪轉向對于車身穩(wěn)定性的影響，設計了穩(wěn)態(tài)轉向和斜向行駛兩種轉向方式參考模型，從而有效保證輪胎側偏角處于線性區(qū)間，提高了輪胎的穩(wěn)定性裕量?；谒妮啰毩⑥D向分布式驅動汽車執(zhí)行機構高度冗余的結構優(yōu)勢，提出了輪胎力可分配重構的分層容錯控制方法，其上層控制器通過參數(shù)自適應遞歸非奇異終端滑?？刂破髟黾涌刂凭群汪敯粜?，下層控制器以最小化輪胎負荷率作為優(yōu)化目標實現(xiàn)車輪轉角和驅動/制動力矩的重新分配。研究表明，所提出控制策略可以在單輪轉向電機失效后，通過控制其余車輪轉向執(zhí)行機構實現(xiàn)控制重構，從而有效保持車輛的正常行駛狀態(tài)和方向。

(3) 利用離線仿真和控制器在環(huán)仿真驗證了所提出控制策略在中高速單移線換道單輪轉向失效工況下的控制效果，證明了其具有及時可靠的行駛穩(wěn)定性控制能力。本文所研究工況依靠提出的穩(wěn)態(tài)轉向的控制方式即可達到預期的容錯控制效果，然而，對于極限轉向出現(xiàn)過大輪胎側偏角的工況下，則必須采用斜向行駛的控制方式來保證車輛的行駛穩(wěn)定性，該方面的研究將是接下來重點開展的內(nèi)容。

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