Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors' Faults
These videos have been matched automatically. Contact us if they are not relevant.
These videos have been matched automatically. Contact us if they are not relevant.
View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a fault-tolerant control strategy for electric vehicles with in-wheel motors. The new method enhances handling stability and safety during motor failures, outperforming traditional approaches.
Area Of Science
- Automotive Engineering
- Control Systems
- Robotics
Background
- In-wheel motor (IWM) electric vehicles (EVs) face safety risks due to potential motor failures.
- Existing control strategies may not adequately address the complexities of collaborative control during IWM faults.
Purpose Of The Study
- To develop a fault-tolerant collaborative control strategy for four-wheel-drive (4WD) EVs with IWMs.
- To ensure vehicle handling stability and safety under single or multiple IWM fault conditions.
Main Methods
- A two-layer control architecture: motion tracking and torque distribution.
- Utilizing a two-degree-of-freedom vehicle model and sensor data (wheel speed, acceleration, gyroscope, steering wheel angle).
- Implementing Single-motor Sufficient Output Distribution (SSOD) and Multi-motor Sufficient/Insufficient output Distribution (MSCD) schemes for torque distribution.
Main Results
- The proposed fault-tolerant controller significantly reduces errors in center of mass sideslip angle and yaw rate.
- Error reductions of at least 12.9% (sideslip) and 5.88% (yaw rate) on a straight-line track.
- Error reductions of at least 6% (sideslip) and 4.5% (yaw rate) on a DLC track compared to traditional methods.
Conclusions
- The developed fault-tolerant collaborative control strategy effectively maintains handling stability and safety in 4WD EVs with IWM failures.
- The strategy demonstrates superior performance over traditional methods in diverse driving scenarios.
- This research contributes to the advancement of robust control systems for electric vehicles.
These videos have been matched automatically. Contact us if they are not relevant.
These videos have been matched automatically. Contact us if they are not relevant.
Related Concept Videos
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Directional relays, essential for managing unidirectional fault currents, enhance the safety and efficiency of power systems. On power lines equipped with directional relays, faults downstream (to the right) of the current transformer typically cause the fault current to lag the bus voltage by approximately 90 degrees, known as the forward direction. In contrast, upstream (left-side) faults may result in the fault current leading the bus voltage by nearly 90 degrees, termed the reverse...