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Survey on fault-tolerant vehicle design
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0001-7427-2584
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0002-4048-3452
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0001-8928-0368
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0002-1426-1936
2012 (Engelska)Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Fault-tolerant vehicle design is an emerging inter-disciplinary research domain, which is of increasedimportance due to the electrification of automotive systems. The goal of fault-tolerant systems is to handleoccuring faults under operational condition and enable the driver to get to a safe stop. This paperpresents results from an extended survey on fault-tolerant vehicle design. It aims to provide a holisticview on the fault-tolerant aspects of a vehicular system. An overview of fault-tolerant systems in generaland their design premises is given as well as the specific aspects related to automotive applications. Thepaper highlights recent and prospective development of vehicle motion control with integrated chassiscontrol and passive and active fault-tolerant control. Also, fault detection and diagnosis methods arebriefly described. The shift on control level of vehicles will be accompanied by basic structural changeswithin the network architecture. Control architecture as well as communication protocols and topologiesare adapted to comply with the electrified automotive systems. Finally, the role of regulations andinternational standardization to enable fault-tolerant vehicle design is taken into consideration.

Ort, förlag, år, upplaga, sidor
2012.
Nyckelord [en]
reliability, safety, wheel hub motor, diagnosis, control system, fault-tolerant control
Nationell ämneskategori
Farkostteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-98811Scopus ID: 2-s2.0-84877594122OAI: oai:DiVA.org:kth-98811DiVA, id: diva2:539161
Konferens
26th Electric Vehicle Symposium, (EVS26), Los Angeles, CA, May 6-9, 2012
Forskningsfinansiär
TrenOp, Transport Research Environment with Novel Perspectives
Anmärkning

Qc 20120730

Tillgänglig från: 2012-07-30 Skapad: 2012-07-03 Senast uppdaterad: 2015-05-20Bibliografiskt granskad
Ingår i avhandling
1. Faults and their influence on the dynamic behaviour of electric vehicles
Öppna denna publikation i ny flik eller fönster >>Faults and their influence on the dynamic behaviour of electric vehicles
2013 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

The increase of electronics in road vehicles comes along with a broad variety of possibilitiesin terms of safety, handling and comfort for the users. A rising complexityof the vehicle subsystems and components accompanies this development and has tobe managed by increased electronic control. More potential elements, such as sensors,actuators or software codes, can cause a failure independently or by mutually influencingeach other. There is a need of a structured approach to sort the faults from avehicle dynamics stability perspective.This thesis tries to solve this issue by suggesting a fault classification method and faulttolerantcontrol strategies. Focus is on typical faults of the electric driveline and thecontrol system, however mechanical and hydraulic faults are also considered. Duringthe work, a broad failure mode and effect analysis has been performed and the faultshave been modeled and grouped based on the effect on the vehicle dynamic behaviour.A method is proposed and evaluated, where faults are categorized into different levelsof controllability, i. e. levels on how easy or difficult it is to control a fault for the driver,but also for a control system.Further, fault-tolerant control strategies are suggested that can handle a fault with acritical controllability level. Two strategies are proposed and evaluated based on thecontrol allocation method and an electric vehicle with typical faults. It is shown thatthe control allocation approaches give less critical trajectory deviation compared to noactive control and a regular Electronic Stability Control algorithm.To conclude, this thesis work contributes with a methodology to analyse and developfault-tolerant solutions for electric vehicles with improved traffic safety.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH Royal Institute of Technology, 2013. s. x, 54
Serie
Trita-AVE, ISSN 1651-7660 ; 2013:48
Nyckelord
fault classification, vehicle dynamics, electric vehicle, failure, fault-tolerant control, reconfiguration, fault handling
Nationell ämneskategori
Farkostteknik
Forskningsämne
Järnvägsgruppen - Fordonsteknik
Identifikatorer
urn:nbn:se:kth:diva-131213 (URN)
Presentation
2013-10-18, Hugin, Teknikringen 8, KTH, Stockholm, 10:00 (Engelska)
Opponent
Handledare
Anmärkning

QC 20131010

Tillgänglig från: 2013-10-10 Skapad: 2013-10-09 Senast uppdaterad: 2013-10-10Bibliografiskt granskad
2. Controlling over-actuated road vehicles during failure conditions
Öppna denna publikation i ny flik eller fönster >>Controlling over-actuated road vehicles during failure conditions
2015 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

The aim of electrification of chassis and driveline systems in road vehicles is to reduce the global emissions and their impact on the environment. The electrification of such systems in vehicles is enabling a whole new set of functionalities improving safety, handling and comfort for the user. This trend is leading to an increased number of elements in road vehicles such as additional sensors, actuators and software codes. As a result, the complexity of vehicle components and subsystems is rising and has to be handled during operation. Hence, the probability of potential faults that can lead to component or subsystem failures deteriorating the dynamic behaviour of road vehicles is becoming higher. Mechanical, electric, electronic or software faults can cause these failures independently or by mutually influencing each other, thereby leading to potentially critical traffic situations or even accidents. There is a need to analyse faults regarding their influence on the dynamic behaviour of road vehicles and to investigate their effect on the driver-vehicle interaction and to find new control strategies for fault handling.

A structured method for the classification of faults regarding their influence on the longitudinal, lateral and yaw motion of a road vehicle is proposed. To evaluate this method, a broad failure mode and effect analysis was performed to identify and model relevant faults that have an effect on the vehicle dynamic behaviour. This fault classification method identifies the level of controllability, i.e. how easy or difficult it is for the driver and the vehicle control system to correct the disturbance on the vehicle behaviour caused by the fault.

Fault-tolerant control strategies are suggested which can handle faults with a critical controllability level in order to maintain the directional stability of the vehicle. Based on the principle of control allocation, three fault-tolerant control strategies are proposed and have been evaluated in an electric vehicle with typical faults. It is shown that the control allocation strategies give a less critical trajectory deviation compared to an uncontrolled vehicle and a regular electronic stability control algorithm. An experimental validation confirmed the potential of this type of fault handling using one of the proposed control allocation strategies.

Driver-vehicle interaction has been experimentally analysed during various failure conditions with typical faults of an electric driveline both at urban and motorway speeds. The driver reactions to the failure conditions were analysed and the extent to which the drivers could handle a fault were investigated. The drivers as such proved to be capable controllers by compensating for the occurring failures in time when they were prepared for the eventuality of a failure. Based on the experimental data, a failure-sensitive driver model has been developed and evaluated for different failure conditions. The suggested fault classification method was further verified with the conducted experimental studies.

The interaction between drivers and a fault-tolerant control system with the occurrence of a fault that affects the vehicle dynamic stability was investigated further. The control allocation strategy has a positive influence on maintaining the intended path and the vehicle stability, and supports the driver by reducing the necessary corrective steering effort. This fault-tolerant control strategy has shown promising results and its potential for improving traffic safety.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH Royal Institute of Technology, 2015. s. xii, 84
Serie
TRITA-AVE, ISSN 1651-7660 ; 2015:23
Nyckelord
vehicle dynamics, vehicle safety, driver-vehicle interaction, failure analysis, wheel hub motor failure, over-actuation, fault-tolerant control
Nationell ämneskategori
Farkostteknik
Forskningsämne
Farkostteknik
Identifikatorer
urn:nbn:se:kth:diva-166819 (URN)978-91-7595-597-1 (ISBN)
Disputation
2015-06-05, Kollegiesalen, Brinellvägen 8, KTH, Stockholm, 09:30 (Engelska)
Opponent
Handledare
Anmärkning

QC 20150520

Tillgänglig från: 2015-05-20 Skapad: 2015-05-19 Senast uppdaterad: 2015-05-20Bibliografiskt granskad

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