Force allocation control for distributed drive electric vehicles under split-friction regions and actuator faults

Area of Science:

• Automotive Engineering
• Control Systems
• Robotics

Background:

• Electric vehicles (EVs) face challenges in stability and drivability on split-friction surfaces.
• Actuator faults can further compromise EV performance and safety.

Purpose of the Study:

• To develop a control strategy for enhancing EV stability and drivability over split-friction regions.
• To address actuator faults in EVs through advanced control allocation.

Main Methods:

• A slip-ratio-based synchronization approach is employed within an integrated control architecture (high-, medium-, low-level controllers).
• Control allocation is used to autonomously regulate distribution parameters for synchronizing wheel slip ratios.
• Force allocation compensates for actuator faults (proportional, additive, motor saturation).

Main Results:

• The proposed method effectively redistributes driving force to ensure stability and performance on split-friction surfaces.
• The control scheme successfully compensates for various actuator faults by adjusting driving force.
• Simulations (CarSim/MATLAB/Simulink) and hardware-in-the-loop validations confirm the efficacy of the control strategies.

Conclusions:

• The developed control allocation method significantly improves the stability and drivability of distributed drive EVs.
• The approach provides a robust solution for managing split-friction conditions and actuator faults in EVs.