Fault Diagnosis and Fault-tolerant Control Method for In-wheel Motor Electric Vehicles

被引：3
作者：
Zhou H. [1 ]
Jia F. [1 ]
Liu Z. [1 ]
Liu H. [1 ]
机构：
[1] Department of Control Science and Engineering, Harbin Institute of Technology, Harbin
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 22期
关键词：
Barrier Lyapunov function; Electric vehicle with in-wheel motors; Fault diagnosis; Fault-tolerant control; Unscented Kalman filter;
D O I：
10.3901/JME.2019.22.174
中图分类号：
学科分类号：
摘要：
The fault diagnosis and fault-tolerant control method when the drive system has a failure under the condition that electric vehicle corners is researched. Firstly, the fault diagnosis method based on unscented Kalman filter (UKF) is presented. This method can identify fault parameters of the fault model online based on the on-board sensor signals. When some motors of the drive system fail, the control method of yaw rate and lateral velocity following desired values may still lead to the instability of the vehicle. Therefore, the active fault tolerant control based on the barrier Lyapunov function is proposed. The control method can constrain the yaw rate and lateral velocity in the stable region and maintain the stability of the vehicle comparing to the desired-value-tracking control method which may still have the risk of losing stability. The proposed control method can drag the vehicle back to the stable state by redistribution the wheel torque based on the detected fault signal. At last, simulations that different wheel motors fail are done to verify the effectiveness of the controller proposed. © 2019 Journal of Mechanical Engineering.
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页码：174 / 182
页数：8
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