Fault-Tolerant Control With Active Fault Diagnosis for Four-Wheel Independently Driven Electric Ground Vehicles

This paper presents a fault-tolerant control approach for four-wheel independently driven (4WID) electric vehicles. An adaptive control-based passive fault-tolerant controller is designed to ensure vehicle system stability and to track the desired vehicle motion when an in-wheel motor/motor driver f...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology Vol. 60; no. 9; pp. 4276 - 4287
Main Authors: Wang, Rongrong, Wang, Junmin
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.11.2011
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Active control
Adaptive control
Applied sciences
Automotive wheels
Control systems
Drivers
electric ground vehicle
Electric vehicles
Electrical engineering. Electrical power engineering
Electrical machines
Electronics
Exact sciences and technology
Fault diagnosis
Fault tolerance
fault tolerant
Ground, air and sea transportation, marine construction
in-wheel/hub motor
Motors
Regulation and control
Road transportation and traffic
Systems stability
Testing, measurement, noise and reliability
Testing. Reliability. Quality control
Torque control
Traction motors
Vehicles
Performance evaluation
Target tracking
fault diagnosis
Redundancy
Control synthesis
Driver
Electric vehicle
Adaptive control
Fault tolerance
fault tolerant
System simulation
in-wheel/hub motor
electric ground vehicle
Electric motor
Effectiveness factor
Fault diagnostic
Gain
Fault tolerant system
Defect detection
ISSN:0018-9545, 1939-9359
Online Access:Get full text
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Description
Summary:This paper presents a fault-tolerant control approach for four-wheel independently driven (4WID) electric vehicles. An adaptive control-based passive fault-tolerant controller is designed to ensure vehicle system stability and to track the desired vehicle motion when an in-wheel motor/motor driver fault happens. Due to the system actuation redundancy, it is challenging to isolate the faulty wheel and to accurately estimate the control gain of the faulty in-wheel motor/motor driver for 4WID electric vehicles. An active fault diagnosis (FD) approach is thus proposed to explicitly isolate and evaluate the fault. Based on the estimated control gain of the faulty wheel, the control efforts of all the wheels are redistributed to relieve the torque demand on the faulty wheel. Simulations using a high-fidelity CarSim full-vehicle model show the effectiveness of the proposed in-wheel motor/motor driver active fault diagnosis and fault-tolerant control approaches in various driving scenarios.
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ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2011.2172822