Affiliation:
1. School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Abstract
Failure of any of the drive systems in a Four-Wheel Independent Drive (4WID) electric vehicle may affect the control performance and driving safety of the whole vehicle. Therefore, in this paper, a fault-tolerant controller (FTC) for 4WID electric vehicles considering drive actuator failures is proposed. First, a comprehensive characterization of multiple fault types is achieved by establishing a generalized fault model and designing a comprehensive fault factor. Second, based on the comprehensive fault factor, an LPV model with faults is constructed. Further, a fault-tolerant controller based on LPV/H∞ output feedback is designed by combining the weighting function. Finally, the effectiveness of the FTC in this paper is verified by simulation and hardware-in-the-loop (HIL) experiments. The experimental results show that the FTC designed in this paper can improve the stability of the vehicle traveling while ensuring tracking accuracy when the drive system fails.
Funder
Key R&D Program of Shandong Province, China
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