Design and experimental evaluation of a fault-tolerant control strategy with and without a driver in the loop
(English)Manuscript (preprint) (Other academic)
In this work, a fault-tolerant control strategy for an electric vehicle is developed and analysed for a wheel hub motor failure during a straight line driving manoeuvre. Based on the control allocation principle, an analytical approach is compared to an optimisation approach and both are investigated for their suitability to handle such failures. The analytical control allocation strategy has shown promising results similar to the optimal control allocation strategy. The improvements in vehicle stability and maintained desired path are also verified by experiments. The analytical approach is implemented in an experimental vehicle verifying the simulation results without driver in the loop. An experimental study including drivers is further conducted to analyse the influence of the control allocation strategy on the driver-vehicle interaction for the same manoeuvre. Further improvements for vehicle stability and lateral deviation are found for the driver study when an analytical control allocation strategy is included. The driver-vehicle interaction to a fault is improved strongly due to controller intervention. This fault-tolerant control strategy has shown promising results and its potential to improve traffic safety.
fault handling, control allocation, electric vehicle, fault accommodation, vehicle dynamics, wheel hub motor failure, driver-vehicle interaction, experiment
Research subject Vehicle and Maritime Engineering
IdentifiersURN: urn:nbn:se:kth:diva-166831OAI: oai:DiVA.org:kth-166831DiVA: diva2:812517
QP 20152015-05-192015-05-192015-05-20Bibliographically approved