Fault-Tolerant Control of Electric Vehicles with In-Wheel Motors through Tyre-Force Allocation
2012 (English)In: Proceedings of the 11th International Symposium on Advanced Vehicle Control, Seoul: Japan Society of Mechanical Engineers (JSAE) , 2012Conference paper (Refereed)
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.
Fault-Tolerant Control, Force Allocation, Integrated Chassis Control
IdentifiersURN: urn:nbn:se:kth:diva-98810OAI: oai:DiVA.org:kth-98810DiVA: diva2:539153
11th International Symposium on Advanced Vehicle Control, 9 - 12 September 2012, Seoul, Korea
FunderStandUpTrenOp, Transport Research Environment with Novel Perspectives
QC 201306112012-07-032012-07-032014-06-18Bibliographically approved