A Fault-Tolerant Control Method for 4WIS/4WID Electric Vehicles Based on Reconfigurable Control Allocation

2018 ◽  
Author(s):  
Youpeng Zhang ◽  
Hongyu Zheng ◽  
Jiaxu Zhang ◽  
Cheng Cheng
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Reconfigurable Control

Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors

2012 ◽  
Vol 134 (2) ◽  
Author(s):  
Rongrong Wang ◽  
Junmin Wang
Keyword(s):  
Fault Diagnosis ◽  
Electric Vehicles ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Effort ◽  
Vehicle Architecture ◽  
Force Modeling ◽  
Road Friction ◽  
Diagnosis Approach

This paper presents an in-wheel motor fault diagnosis and fault-tolerant control method for four-wheel independently actuated (4WIA) electric vehicles. The 4WIA electric vehicle is one of the promising architectures for electric vehicles. While such a vehicle architecture greatly increases the flexibility for vehicle control, it also elevates the requirements on system reliability, safety, and fault tolerance due to the increased number of actuators. A fault diagnosis approach for finding the faulty in-wheel motor/motor driver pair is developed. The proposed diagnosis approach does not need an accurate knowledge on tire-road friction coefficient (TRFC) and is robust to tire force modeling inaccuracies. Based on the in-wheel motor/motor driver fault diagnosis mechanism, a control-allocation based vehicle fault-tolerant control system is designed to accommodate the in-wheel motor/motor driver fault by automatically allocating the control effort among other healthy wheels. Simulations using a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed in-wheel motor/motor driver fault diagnosis and fault-tolerant control approaches.

scholarly journals Fault Diagnosis and Reconfigurable Control for Commercial Aircraft with Multiple Faults and Actuator Saturation

Aerospace ◽  
2021 ◽  
Vol 8 (4) ◽  
pp. 108
Author(s):  
Yishi Liu ◽  
Sheng Hong ◽  
Enrico Zio ◽  
Jianwei Liu
Keyword(s):  
Fault Diagnosis ◽  
Control Method ◽  
Actuator Saturation ◽  
Fault Tolerant ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Adaptive Method ◽  
Reconfigurable Control ◽  
Multiple Faults ◽  
The Stability

Active fault-tolerant control systems perform fault diagnosis and reconfigurable control. There is a bidirectional uncertainty between them, and an integrated scheme is proposed here to account for that. The system considers both actuator and sensor faults, as well as the external disturbance. The diagnostic module is designed using an unknown input observer, and the controller is constructed on the basis of an adaptive method. The integrated strategy is presented, and the stability of the overall system is analyzed. Moreover, different kinds of anti-windup techniques are utilized to modify the original controllers, because of the different controller structures. A simulation of the integrated anti-windup fault-tolerant control method is demonstrated using a numerical model of Boeing 747. The results show that it can guarantee the stability of the post-fault aircraft and increase the control performance for the overall faulty system.

Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles

2021 ◽  
pp. 095440702098283
Author(s):  
Yang Liu ◽  
Changfu Zong ◽  
Dong Zhang ◽  
Hongyu Zheng ◽  
Xiaojian Han ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Linear Quadratic ◽  
Control Approach ◽  
Actuator Failures ◽  
Performance Reduction ◽  
Actuator Control

The four-wheel independently driven and steered electric vehicle is a promising vehicle model having a strong potential for handling stability, flexibility, and consumption reduction. However, failure of the actuators of 4WIS/4WID vehicles could lead to performance reduction and dangerous accidents owing to their complex system. A fault-tolerant control approach is adopted in the integrated chassis controller such that the autonomously driven vehicle maintains its safety and stability while actuator failures occur. A linear quadratic regulator is utilized to track the reference path by adjusting the total forces and moment. To resolve any actuator failures, a control allocation method based on the pseudo-inverse matrix is introduced for decoupling the forces and moment based on the current state of the tires with cycle and correction. In the actuator control layer, the desired forces of the tires are achieved by regulating the steering angles and driving torques based on the inverse tire models of normal and flat tires. Three sets of experiments are used to test the efficiency of the proposed method when applied to a 4WIS/4WID vehicle. The results demonstrate that the proposed fault-tolerant control method can greatly improve the tracking performance and stability of 4WIS/4WID vehicles under conditions of actuator failures.

Fault-Tolerant Control of Electric Ground Vehicles With Independently-Actuated Wheels

2010 ◽  
Author(s):  
Rongrong Wang ◽  
Junmin Wang
Keyword(s):  
Electric Vehicle ◽  
Electric Vehicles ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Vehicle Control ◽  
Detection Mechanism ◽  
Control Effort ◽  
Control Approach ◽  
Vehicle Architecture

This paper presents a fault-tolerant control method for four-wheel independently driven (4WID) electric vehicles. 4WID electric vehicle is one of the promising architectures for electric vehicles in the future. While such a vehicle architecture greatly increases the flexibility for vehicle control, it also demands more on system reliability, safety, and fault tolerance due to the increased number of actuators and subsystems. An active fault tolerant control approach for 4WID electric vehicle is developed to accommodate the fault of in-wheel motor and motor driver pairs. Based on an in-wheel motor/motor driver fault detection mechanism, a control-allocation based vehicle control system is designed to accommodate the in-wheel motor/motor driver fault by automatically allocating the control effort among other healthy wheels. Simulations using a high-fidelity CarSim® full-vehicle model show the effectiveness of the proposed fault-tolerant control approach.

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