This paper presents a fault-tolerant control (FTC) method for four-wheel independently driven and steered (4WIS/4WID) electric vehicles based on a reconfigurable control allocation to increase the flexibility for vehicle control and improve the safety of vehicle after the steering actuator fails. The proposed fault tolerant control method consists of the following three parts: 1) a fault detection and diagnosis (FDD) module that monitors vehicle steering condition, detects and diagnoses actuator failures; 2) an upper controller that computes the generalized forces/moments to track the desired vehicle motion and trajectory; 3) a reconfigurable control allocator that optimally distributes the generalized forces/moments to four wheels. The FTC approach based on the reconfigurable control allocation reallocates the generalized forces/moments among healthy steering actuators and driving motors once the actuator failures is detected. If one of the steering actuators fails (the road wheel cannot steer), the FDD module will diagnose the actuator failures by the steering wheel angle sensors. Then the reconfigurable control allocator accommodates faulty driving motors and reconfigures the control allocation law of the healthy motors to achieve the desired vehicle motion, maximize the vehicle-road grip margin and minimize the deviation from the desired trajectory to the utmost extent. Simulations using a high-fidelity, full-vehicle model have been conducted to verify the proposed algorithm. It has been shown from the simulations that the proposed fault-tolerant control (FTC) method can make the vehicle track the desired motion and trajectory when the steering actuator failure occurs so that it can improve the safety and maneuverability of vehicle.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    WCX World Congress Experience ; 2018



    Publication date :

    2018-04-03




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Fault-Tolerant Control for 4WID/4WIS Electric Vehicles

    Zong, Changfu / Li, Chunshan / Chen, Guoying | SAE Technical Papers | 2014


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

    Zhang, Youpeng / Zheng, Hongyu / Zhang, Jiaxu et al. | British Library Conference Proceedings | 2018


    Fault Tolerant Control Against Actuator Failures of 4WID/4WIS Electric Vehicles

    Zong, C. / Liu, C. / Zheng, H. et al. | British Library Conference Proceedings | 2013


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

    Liu, Yang / Zong, Changfu / Zhang, Dong et al. | SAGE Publications | 2021


    Passive Fault-Tolerant Performance of 4WID/4WIS Electric Vehicles Based on MPC and Control Allocation

    Zong, Changfu / Liu, Chao / Li, Chunshan et al. | SAE Technical Papers | 2013