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

Rongrong Wang Rongrong Wang,Junmin Wang Junmin Wang

doi:10.1109/acc.2011.5991311

Rongrong Wang Rongrong Wang, Junmin Wang Junmin Wang

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https://doi.org/10.1109/acc.2011.5991311

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Publication Date: Jun 1, 2011

Citations: 13

Affiliation: The Ohio State University

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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.

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