This paper presents an in-wheel motor fault diagnosis and fault-tolerant control method for four-wheel independently actuated (4WIA) electric vehicles. The 4WIA electric vehicle is one of the promising architectures for electric vehicles. While such a vehicle architecture greatly increases the flexibility for vehicle control, it also elevates the requirements on system reliability, safety, and fault tolerance due to the increased number of actuators. A fault diagnosis approach for finding the faulty in-wheel motor/motor driver pair is developed. The proposed diagnosis approach does not need an accurate knowledge on tire-road friction coefficient (TRFC) and is robust to tire force modeling inaccuracies. Based on the in-wheel motor/motor driver fault diagnosis mechanism, a control-allocation based vehicle fault-tolerant control system is designed to accommodate the in-wheel motor/motor driver fault by automatically allocating the control effort among other healthy wheels. Simulations using a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed in-wheel motor/motor driver fault diagnosis and fault-tolerant control approaches.
Issue Section:
Research Papers
Keywords:
actuators,
electric vehicles,
fault diagnosis,
fault tolerance,
friction,
road safety,
tyres,
wheels,
control,
fault-tolerant,
in-wheel motor,
electric vehicle
Topics:
Design,
Electric vehicles,
Errors,
Fault diagnosis,
Modeling,
Motors,
Simulation,
Tires,
Vehicles,
Wheels
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.Copyright © 2012
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