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Fault-Tolerant Control of Electric Vehicles with In-Wheel Motors through Tyre-Force Allocation
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0001-7427-2584
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Electrical Engineering (EES), Electrical Energy Conversion.ORCID iD: 0000-0002-6283-7661
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2012 (English)In: Proceedings of the 11th International Symposium on Advanced Vehicle Control, Seoul: Japan Society of Mechanical Engineers (JSAE) , 2012Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a fault handling strategy for electric vehicles with in-wheel motors. The ap-plied control algorithm is based on tyre-force allocation. One complex tyre-force allocation meth-od, which requires non-linear optimization, as well as a simpler tyre force allocation method are developed and applied. A comparison between them is conducted and evaluated against a standard reference vehicle with an Electronic Stability Control (ESC) algorithm. The faults in consideration are electrical faults that can arise in in-wheel motors of permanent-magnet type. The results show for both tyre-force allocation methods an improved re-allocation after a severe fault and thus re-sults in an improved state trajectory recovery. Thereby the proposed fault handling strategy be-comes an important component to improve system dependability and secure vehicle safety.

Place, publisher, year, edition, pages
Seoul: Japan Society of Mechanical Engineers (JSAE) , 2012.
Keyword [en]
Fault-Tolerant Control, Force Allocation, Integrated Chassis Control
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-98810OAI: oai:DiVA.org:kth-98810DiVA: diva2:539153
Conference
11th International Symposium on Advanced Vehicle Control, 9 - 12 September 2012, Seoul, Korea
Funder
StandUpTrenOp, Transport Research Environment with Novel Perspectives
Note

QC 20130611

Available from: 2012-07-03 Created: 2012-07-03 Last updated: 2014-06-18Bibliographically approved
In thesis
1. Faults and their influence on the dynamic behaviour of electric vehicles
Open this publication in new window or tab >>Faults and their influence on the dynamic behaviour of electric vehicles
2013 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2013. x, 54 p.
Series
Trita-AVE, ISSN 1651-7660 ; 2013:48
Keyword
fault classification, vehicle dynamics, electric vehicle, failure, fault-tolerant control, reconfiguration, fault handling
National Category
Vehicle Engineering
Research subject
Järnvägsgruppen - Fordonsteknik
Identifiers
urn:nbn:se:kth:diva-131213 (URN)
Presentation
2013-10-18, Hugin, Teknikringen 8, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20131010

Available from: 2013-10-10 Created: 2013-10-09 Last updated: 2013-10-10Bibliographically approved

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Wanner2012(535 kB)227 downloads
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Wanner, DanielWallmark, OskarDrugge, LarsStensson Trigell, Annika

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