Fault-tolerant control using sliding mode techniques applied to multi-motor electric vehicle
- 1 November 2013
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 1553572X,p. 3530-3535
Abstract
This paper proposes the concepts of sliding mode schemes for fault tolerant control. The theoretical ideas developed in the paper were applied to a multi-motor electric vehicle (EV). To address this problem, we started by revisiting the modeling of vehicle dynamics focusing on nonlinear single-track model. The vehicle response to external perturbation forces, which are generated by unbalanced right and left traction forces due to malfunctions in motor drive, is described using the transfer functions analysis. The designing of a sliding mode controller for handling faults is described. The proposed scheme shows that certain motor drive failures can be handled directly without reconfiguring the controller. Simulation results obtained with CarSim vehicle model show the effectiveness of the fault tolerant control in various driving scenarios.Keywords
This publication has 8 references indexed in Scilit:
- Coordinated Control of Hybrid 4WD Vehicles for Enhanced Maneuverability and Lateral StabilityIEEE Transactions on Vehicular Technology, 2012
- Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel MotorsJournal of Dynamic Systems, Measurement, and Control, 2012
- Design and Analysis of an Integral Sliding Mode Fault-Tolerant Control SchemeIEEE Transactions on Automatic Control, 2011
- Dynamics of Front-and-Rear-Wheel-Independent-Drive-Type Electric Vehicles at the Time of FailureIEEE Transactions on Industrial Electronics, 2011
- Survey on Fault-Tolerant Diagnosis and Control Systems Applied to Multi-motor Electric Vehicles2011
- Yaw-rate control for electric vehicle with active front/rear steering and driving/braking force distribution of rear wheels2010
- Vehicle Pure Yaw Moment control using differential tire slip2009
- Future Vehicle Driven by Electricity and Control—Research on Four-Wheel-Motored “UOT Electric March II”IEEE Transactions on Industrial Electronics, 2004