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Control allocation strategies for an electric vehicle with a wheel hub motor failure
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0001-7427-2584
KTH, Skolan för elektro- och systemteknik (EES), Elektrisk energiomvandling.ORCID-id: 0000-0002-6283-7661
Volvo Cars AB.
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0001-8928-0368
Visa övriga samt affilieringar
2015 (Engelska)Ingår i: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 10, nr 3, s. 263-287Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Three fault-tolerant control strategies for electric vehicles with wheel hub motors are presented and compared, which are all based on the control allocation principle. The main objective is to maintain the directional stability of the vehicle in case of a component failure during high speed manoeuvres. Two simplified strategies that are suited for on-board implementation are derived and compared to an optimal control allocation strategy and a reference vehicle with a basic electronic stability control system. The occurring faults are considered to be in the electric high-voltage system that can arise in wheel hub motors. All three control allocation strategies show improved re-allocation of traction forces after a severe fault, and hence an improved directional stability. However, the performance of both simplified algorithms shows limitations in case of force demands outside the capabilities of the respective actuator. This work shows that vehicle safety is increased by the proposed fault-tolerant control strategies.

Ort, förlag, år, upplaga, sidor
InderScience Publishers, 2015. Vol. 10, nr 3, s. 263-287
Nyckelord [en]
Electric vehicles, Fault tolerance, Flight control systems, Traction control, Traction motors, Vehicle wheels, Vehicles, Wheels, Control allocation, Fault accommodation, Fault handling, Fault tolerant control, Integrated chassis controls, Inverter shut-down, Vehicle dynamics, Wheel-hub motors
Nationell ämneskategori
Annan elektroteknik och elektronik
Identifikatorer
URN: urn:nbn:se:kth:diva-166463DOI: 10.1504/IJVSMT.2015.070164Scopus ID: 2-s2.0-84934274855OAI: oai:DiVA.org:kth-166463DiVA, id: diva2:811134
Forskningsfinansiär
StandUp
Anmärkning

Updated from Accepted to Published. QC 20150701

Tillgänglig från: 2015-05-11 Skapad: 2015-05-11 Senast uppdaterad: 2017-01-10Bibliografiskt granskad
Ingår i avhandling
1. 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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Wanner, DanielWallmark, OskarDrugge, LarsStensson Trigell, Annika

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