分布式电动车麦克纳姆轮瞬态主动短路制动控制

High reliability and fault-tolerant operation are critical for the safety of distributed electric vehicles (EVs). To mitigate surge current, torque imbalance and vehicle instability during protective braking, an enhanced transient switching method for power switches in the motor driver is proposed. By utilizing the electrical angle of the stator current and a step delay control associated with motor parameters, the stepwise active short-circuit method facilitates smooth transitions between normal operation state and the ASC braking state, minimizing reliance on rotor position detections. Simulations and experiments on a light EV with Mecanum wheels demonstrate its effectiveness in improving safety and stability. Comparing the stepwise proposed method with conventional direct ASC braking processes, the impulse current was reduced and the vehicle’s yaw rate decreased significantly. The study contributes to the advancement of fault protection techniques for distributed drive EVs, offering insights into mitigating transient short-circuit currents and torque jerks during protective braking controls.