This paper presents a fault tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface is employed as a motion controller, allowing the desired vehicle motion to be tracked by the adaptive driver model. An extended Kalman filter-based state estimator is adopted to virtually measure the sideslip angle while considering the nonlinear tire force. A new allocation strategy, involving two distribution modes of coordination, is designed. In addition, a weight coefficient adjustment strategy is implemented in optimal mode based on the lateral load transfer, thus improving the steering performance. Simulations are conducted to verify the proposed FTC algorithm. The results demonstrate that steering failure can be effectively covered by the functional redundancy of the driving/braking actuators. ," /> This paper presents a fault tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface is employed as a motion controller, allowing the desired vehicle motion to be tracked by the adaptive driver model. An extended Kalman filter-based state estimator is adopted to virtually measure the sideslip angle while considering the nonlinear tire force. A new allocation strategy, involving two distribution modes of coordination, is designed. In addition, a weight coefficient adjustment strategy is implemented in optimal mode based on the lateral load transfer, thus improving the steering performance. Simulations are conducted to verify the proposed FTC algorithm. The results demonstrate that steering failure can be effectively covered by the functional redundancy of the driving/braking actuators. ,"/> 基于驾驶员模型的独立驱动电动汽车转向失效容错控制

Automotive Innovation ›› 2018, Vol. 1 ›› Issue (1): 85-94.doi: 10.1007/s42154-018-0013-0

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基于驾驶员模型的独立驱动电动汽车转向失效容错控制

  

  1. School of Automotive Engineering, The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
  • 出版日期:2018-03-15 发布日期:2018-03-08

Driver Model-Based Fault Tolerant Control of Independent Driving Electric Vehicle Suffering Steering Failure

  1. School of Automotive Engineering, The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China
  • Online:2018-03-15 Published:2018-03-08

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"> This paper presents a fault tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface is employed as a motion controller, allowing the desired vehicle motion to be tracked by the adaptive driver model. An extended Kalman filter-based state estimator is adopted to virtually measure the sideslip angle while considering the nonlinear tire force. A new allocation strategy, involving two distribution modes of coordination, is designed. In addition, a weight coefficient adjustment strategy is implemented in optimal mode based on the lateral load transfer, thus improving the steering performance. Simulations are conducted to verify the proposed FTC algorithm. The results demonstrate that steering failure can be effectively covered by the functional redundancy of the driving/braking actuators.
')">">This paper presents a fault tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface is employed as a motion controller, allowing the desired vehicle motion to be tracked by the adaptive driver model. An extended Kalman filter-based state estimator is adopted to virtually measure the sideslip angle while considering the nonlinear tire force. A new allocation strategy, involving two distribution modes of coordination, is designed. In addition, a weight coefficient adjustment strategy is implemented in optimal mode based on the lateral load transfer, thus improving the steering performance. Simulations are conducted to verify the proposed FTC algorithm. The results demonstrate that steering failure can be effectively covered by the functional redundancy of the driving/braking actuators.

Abstract:

This paper presents a fault tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface is employed as a motion controller, allowing the desired vehicle motion to be tracked by the adaptive driver model. An extended Kalman filter-based state estimator is adopted to virtually measure the sideslip angle while considering the nonlinear tire force. A new allocation strategy, involving two distribution modes of coordination, is designed. In addition, a weight coefficient adjustment strategy is implemented in optimal mode based on the lateral load transfer, thus improving the steering performance. Simulations are conducted to verify the proposed FTC algorithm. The results demonstrate that steering failure can be effectively covered by the functional redundancy of the driving/braking actuators.

Key words: 容错控制, 独立驱动, 转向失效, 驾驶员模型, 功能冗余

中图分类号: 

  • Fault tolerance control
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