This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Fault Tolerant Control Against Actuator Failures of 4WID/4WIS Electric Vehicles
Technical Paper
2013-01-0405
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
A fault tolerant control (FTC) approach based on reconfigurable control allocation for four-wheel independently driven and steered (4WID/4WIS) electric vehicles against driving motor failures is proposed in order to improve vehicle safety, performance and maneuverability after the driving motor failures. The proposed fault tolerant control method consists of the following three parts: 1) a fault detection and diagnosis (FDD) module that monitors vehicle driving condition, detects and diagnoses actuator failures; 2) a motion controller that computes the generalized forces/moments to track the desired vehicle motion using model predictive control method; 3) a reconfigurable control allocator that optimally distributes the generalized forces/moments to four wheels aiming at minimizing the total tire usage. The FTC approach is based on the reconfigurable control allocation which reallocates the generalized forces/moments among healthy actuators once the actuator failures is detected. If one or more driving motors fails, the FDD module diagnoses the actuator failures. Then the reconfigurable control allocator accommodates faulty driving motors and reconfigures the control allocation law of the healthy motors to achieve the desired vehicle motion to the greatest extent. Numerical simulations have been conducted to verify the proposed algorithm. It has been shown from the simulations that once the driving motor fails, the fault tolerant controller ensures the desired vehicle motion. Compared to the PID controller, the fault tolerant controller prevents the deviation after actuator failures occur, improving the post-fault safety, performance and maneuverability of the 4WID/4WIS EVs.
Recommended Content
Authors
Citation
Zong, C., Liu, C., Zheng, H., and Liu, J., "Fault Tolerant Control Against Actuator Failures of 4WID/4WIS Electric Vehicles," SAE Technical Paper 2013-01-0405, 2013, https://doi.org/10.4271/2013-01-0405.Also In
References
- Härkegård , O. and Glad , S. T. Resolving actuator redundancy-optimal control vs. control allocation Automatica 41 1 137 144 January 2005
- Zhang , Y. , Suresh , V.S. , Jiang B. , and Theilliol , D. Reconfigurable Control Allocation against Aircraft Control Effector Failures IEEE International Conference on Control Applications 1197 1202 Oct. 2007
- Zhang , Y.M. , Jiang , J. Active fault-tolerant control system against partial actuator failures IEE Proceedings-Control Theory and Applications 149 1 95 104 Jan. 2002
- Spjtvold , J. , Johansen , T.A. Fault tolerant control allocation for a thruster-controlled floating platform using parametric programming Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009 3311 3317 Dec. 2009
- Fossen , T.I. and Johansen , T.A. A Survey of Control Allocation Methods for Ships and Underwater Vehicles 14th Mediterranean Conference on Control and Automation 1 6 June 2006
- Dumont , P.E. , Aitouche , A. , Merzouki , R. and Bayart , M. Fault Tolerant Control on an Electric Vehicle IEEE International Conference on Industrial Technology, ICIT 2006 2450 2455 Dec. 2006
- Wang , R. and Wang J. Fault-Tolerant Control With Active Fault Diagnosis for Four-Wheel Independently Driven Electric Ground Vehicles IEEE Transactions on Vehicular Technology 60 9 4276 4287 Nov. 2011
- Chen , G. , Zong , C. , and Guo , X. Traction Control Logic Based on Extended Kalman Filter for Omni-directional Electric Vehicle SAE Technical Paper 2012-01-0251 2012 10.4271/2012-01-0251
- Liu , J. , Zong , C. , and Ma , Y. 4WID/4WIS Electric Vehicle Modeling and Simulation of Special Conditions SAE Technical Paper 2011-01-2158 2011 10.4271/2011-01-2158
- Ogata , K. Modern Control Engineering” 5th Prentice Hall September 2009
- Zong , C. , Liu , J. , and Zhang , Z. Stability Integrated Control Algorithm for 4WID4WIS4WIB EV Based on Model Predictive Control VTI 2012 China July 16 19 2012
- Chen , Y. and Wang , J. Energy-efficient control allocation with applications on planar motion control of electric ground vehicles American Control Conference (ACC) 2011 2719 2724 June 29 2011 July 1 2011
- Mokhiamar , O. and Abe M. How the four wheels should share forces in an optimum cooperative chassis control Control Engineering Practice 14 3 295 304 March 2006
- Sakai , S. , Sado , H. , and Hori , Y. Dynamic Driving/Braking Force Distribution in Electric Vehicles with Independently Driven Four Wheels Electrical Engineering in Japan 138 1 79 89 2002