Skip to main content
placeholder image

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

Journal Article


Download full-text (Open Access)

Abstract


  • Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

Publication Date


  • 2016

Citation


  • B. Li, H. Du & W. Li, "Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers," Mechanical Systems and Signal Processing, vol. 72-73, pp. 462-485, 2016.

Scopus Eid


  • 2-s2.0-84955500434

Ro Full-text Url


  • http://ro.uow.edu.au/context/eispapers/article/6042/type/native/viewcontent

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5015

Number Of Pages


  • 23

Start Page


  • 462

End Page


  • 485

Volume


  • 72-73

Abstract


  • Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

Publication Date


  • 2016

Citation


  • B. Li, H. Du & W. Li, "Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers," Mechanical Systems and Signal Processing, vol. 72-73, pp. 462-485, 2016.

Scopus Eid


  • 2-s2.0-84955500434

Ro Full-text Url


  • http://ro.uow.edu.au/context/eispapers/article/6042/type/native/viewcontent

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5015

Number Of Pages


  • 23

Start Page


  • 462

End Page


  • 485

Volume


  • 72-73