Abstract:
A fault-tolerant (FT) control approach for four-wheel independently-driven (4WID) electric vehicles is presented. An adaptive control based passive fault-tolerant control...Show MoreMetadata
Abstract:
A fault-tolerant (FT) control approach for four-wheel independently-driven (4WID) electric vehicles is presented. An adaptive control based passive fault-tolerant controller is designed to ensure the system stability when an in-wheel motor/motor driver fault happens. As an over-actuated system, it is challenging to isolate the faulty wheel and accurately estimate the control gain of the faulty in-wheel motor for 4WID electric vehicles. An active fault diagnosis approach is thus proposed to isolate and evaluate the fault. Based on the estimated control gain of the faulty in-wheel motor, the control efforts of all the four 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 fault diagnosis and fault-tolerant control approach.
Published in: Proceedings of the 2011 American Control Conference
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
ISBN Information: