Fault-Tolerant Stability Control for Independent Four-Wheel Drive Electric Vehicle Under Actuator Fault Conditions

Kibeom Lee,Minyoung Lee

doi:10.1109/access.2020.2994530

Abstract

Various torque distribution and stability control algorithms have been studied along with the development of four-wheel drive vehicles. But, most of those algorithms focus only on performance improvement. Since the independent four-wheel drive system is based on four drive motors, faults can occur in a motor or an inverter. If a fault occurs, the vehicle stability is not guaranteed and a fatal accident can occur. In this study, the fault-tolerant stability control algorithm for remaining healthy motors is proposed. This fault-tolerant control (FTC) system contains torque distribution and stability control algorithms. For accurate control of motor allocation, driving conditions such as under/over-steering, and steering direction should be considered, as well as vehicle condition such as fault motor location and motor performance limits. The proposed FTC is evaluated with two fault conditions (e.g., front motor fault, rear motor fault) under straight acceleration and constant steering acceleration scenarios. The behavior characteristics and driving risks caused by failures of motors while driving are analyzed. Also, the FTC algorithm is accurately follow a desired path within a minimum error range that the driver can cover.

Highlights

Air pollution and global warming are increasing due to large masses of vehicles and large population density in mega cities
The motor fault tolerant system is mounted in each motor; this study focuses on fault-tolerant control (FTC) at the vehicle dynamics level
A fault-tolerant control algorithm is proposed for a fourwheel drive in-wheel motor electric vehicle

Summary

INTRODUCTION

Air pollution and global warming are increasing due to large masses of vehicles and large population density in mega cities. Lee: Fault-Tolerant Stability Control for Independent Four-Wheel Drive Electric Vehicle Under Actuator Fault Conditions vibration mitigation in wheel motors has been proposed by Qin et al [12]. These studies focused on control of the yaw moments and the stability These algorithms do not consider control wheel allocation under over/under-steering, or steering direction conditions. The proposed fault-tolerant control (FTC) algorithm is constructed considering the motor performance limits and an electronic stability control (ESC) algorithm using three wheels. In there is no fault condition, the general driving algorithm and general ESC distribute the torque and control the stability of the vehicle. Detection of short circuits and transforming them to open circuits are important

FAULT DETECTION AND FAULT-TOLERANT INVERTERS

PERFORMANCE EVALUATION WITH SIMULATION

Findings

CONCLUSION