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.
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March 2012
Research Papers
Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors
Junmin Wang
Junmin Wang
Department of Mechanical and Aerospace Engineering,
wang.1381@osu.edu
The Ohio State University
, Columbus, OH 43210
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Junmin Wang
Department of Mechanical and Aerospace Engineering,
The Ohio State University
, Columbus, OH 43210wang.1381@osu.edu
J. Dyn. Sys., Meas., Control. Mar 2012, 134(2): 021014 (10 pages)
Published Online: January 12, 2012
Article history
Received:
August 3, 2010
Revised:
July 25, 2011
Published:
January 11, 2012
Online:
January 12, 2012
Citation
Wang, R., and Wang, J. (January 12, 2012). "Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors." ASME. J. Dyn. Sys., Meas., Control. March 2012; 134(2): 021014. https://doi.org/10.1115/1.4005050
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