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:
control,
fault-tolerant,
in-wheel motor,
electric vehicle,
actuators,
electric vehicles,
fault diagnosis,
fault tolerance,
friction,
road safety,
tyres,
wheels
Topics:
Design,
Electric vehicles,
Errors,
Fault diagnosis,
Modeling,
Motors,
Simulation,
Tires,
Vehicles,
Wheels
References
1.
Chan
, C. C.
, 2002, “The State of the Art of Electric and Hybrid Vehicles
,” Proc. IEEE
, 90
, pp. 247
–275
.2.
Delucchi
, M. A.
, and Lipman
, T. E.
, 2001, “An Analysis of the Retail and Lifecycle Cost of Battery-Powered Electric Vehicles
,” Transp. Res. D
, 6
(6
), pp. 371
–404
.3.
Yamakawa
, J.
, Kojima
, A.
, and Watanabe
, K.
, 2007, “A Method of Torque Control for Independent Wheel Drive Vehicles on Rough Terrain
,” J. Terramech.
, 44
(5
), pp. 371
–381
.4.
Shino
, M.
, and Nagai
, M.
, 2003, “Independent Wheel Torque Control of Small-Scale Electric Vehicle for Handling and Stability Improvement
,” JSAE Rev.
, 24
(4
), pp. 449
–456
.5.
Piyabongkarn
, D.
, Rajamani
, R.
, and Lew
, J. Y.
, 2010, “Active Driveline Torque Management Systems—Individual Wheel Torque Control for Active Automotive Safety Applications
,” IEEE Control Syst. Mag.
, 30
(4
), pp. 86
–102
.6.
Peng
, H.
, and Tomizuka
, M.
, 1993, “Preview Control for Vehicle Lateral Guidance in Highway Automation
,” J. Dyn. Syst., Meas., Control
, 115
(5
), pp. 679
–686
.7.
Wang
, J.
, and Hsieh
, M. F.
, 2009, “Vehicle Yaw-Inertia- and Mass-Independent Adaptive Steering Control
,” Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.)
, 223
(9
), pp. 1101
–1108
.8.
Liang
, W.
, Yu
, H.
, McGee
, R.
, Kuang
, M.
, and Medanic
, J.
, 2009, “Vehicle Pure Yaw-Moment Control Using Differential Tire Slip
,” American Control Conference
, June 10–12, pp. 3331
–3336
.9.
Chamseddine
, A.
, and Noura
, H.
, 2008, “Control and Sensor Fault Tolerance of Vehicle Active Suspension
,” IEEE Trans. Control Syst. Technol.
, 16
(3
), pp. 416
–433
.10.
Jayabalan
, R.
, and Fahimi
, B.
, 2006, “Monitoring and Fault Diagnosis of Multiconverter Systems in Hybrid Electric Vehicles
,” IEEE Trans. Veh. Technol.
, 55
(5
), pp. 1475
–1484
.11.
Oudghiri
, M.
, Chadli
, M.
, Hajjaji
, A.
, 2008, “Robust Observer-based Fault-tolerant Control for Vehicle Lateral Dynamics
,” Int. J. Veh. Des.
, 48
(3/4
), pp. 173
–189
.12.
Wallmark
, O.
, Harnefors
, L.
, and Carlson
, O.
, 2007, “Control Algorithms for a Fault-Tolerant PMSM Drive
,” IEEE Trans. Ind. Electron. Control Instrum.
, 54
(4
), pp. 1973
–1980
.13.
Muenchhof
, M.
, Beck
, M.
, and Isermann
, R.
, 2009, “Fault-tolerant Actuators and Drives—Structures, Fault Detection Principles and Applications
,” Annu. Rev. Control
, 33
(2
), pp. 136
–148
.14.
Wong
, J. W.
, 2001, Theory of Ground Vehicles
, 3rd ed., Wiley
, New York
.15.
Wang
, J.
, and Longoria
, R. G.
, 2009, “Coordinated and Reconfigurable Vehicle Dynamics Control
,” IEEE Trans. Control Syst. Technol.
, 17
(3
), pp. 723
–732
.16.
Di
Cairano
, S.
, and Tseng
, H. E.
, 2010, “Driver-assist Steering by Active Front Steering and Differential Braking: Design, Implementation and Experimental Evaluation of a Switched Model Predictive Control Approach
,” Proceedings of the 49th IEEE Conference on Decision and Control
, Dec. 2010, pp. 2886
–2891
.17.
Pacejka
, H. B.
, and Bakker
, E.
, 1993, “Magic Formula Tire Model
,” Veh. Syst. Dyn.
, 21
, pp. 1
–18
.18.
Rajamani
, R
, Piyabongkarn
, D.
, Lew
, J. Y.
, and Grogg
, J. A.
, 2006, “Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients
,” Proceedings of the American Control Conference
, pp. 4682
–4687
.19.
Li
, L.
, Wang
, F. Y.
, and Zhou
, Q.
, 2006, “Integrated Longitudinal and Lateral Tire/road Friction Modeling and Monitoring for Vehicle Motion Control
,” IEEE Trans. Intell. Transp. Syst.
, 7
(1
), pp. 1
–19
.20.
Gustafsson
, F.
, 1997, “Slip-Based Tire-Road Friction Estimation
,” Automatica
, 33
(6
), pp. 1087
–1099
.21.
Wang
, J.
, Alexander
, L.
, and Rajamani
, R.
, 2004, “Friction Estimation on Highway Vehicles Using Longitudinal Measurements
,” ASME J. Dyn. Syst., Meas. Control
, 126
(2
), pp. 265
–275
.22.
Chen
, Y.
, and Wang
, J.
, 2011, “Adaptive Vehicle Speed Control with Input Injections for Longitudinal Motion Independent Road Frictional Condition Estimation
,” IEEE Trans. Veh. Technol.
, 60
(3
), pp. 839
–848
.23.
Plumlee
, J. H.
, Bevly
, D. M.
, and Hodel
, A. S.
, 2004, “Control of a Ground Vehicle Using Quadratic Programming Based Control Allocation Techniques
,” American Control Conference
, Boston, pp. 4704
–4709
.24.
Bodson
, M.
, 2002, “Evaluation of Optimization Methods for Control Allocation
,” J. Guid. Control Dyn.
, 25
(4
), pp. 703
–711
.25.
Härkegård
, O.
, and Glad
, S.
, 2005, “Resolving Actuator Redundancy—Optimal Control Versus Control Allocation
,” Automatica
, 41
(1
), pp. 137
–144
.26.
Durham
, W. C.
, 1993, “Constrained Control Allocation
,” J. Guid. Control Dyn.
, 16
(4
), pp. 717
–725
.27.
Wang
, R.
, Chen
, Y.
, Feng
, D.
, Huang
, X.
, and Wang
, J.
, 2011, “Development and Performance Characterization of an Electric Ground Vehicle With Independently Actuated In-Wheel Motors
,” J. Power Sources
, 196
(8
), pp. 3962
–3971
.28.
Mokhiamar
, O.
, and Abe
, M.
, 2004, “Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control
,” J. Dyn. Syst., Meas., Control
, 126
(4
), pp. 753
–763
.Copyright © 2012
by American Society of Mechanical Engineers
You do not currently have access to this content.
