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Fault-tolerant control with active fault diagnosis for four-wheel independently-driven electric ground vehicles | IEEE Conference Publication | IEEE Xplore

Fault-tolerant control with active fault diagnosis for four-wheel independently-driven electric ground vehicles


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 More

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.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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ISSN Information:

Conference Location: San Francisco, CA, USA

References

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