Adaptive Sliding Mode Fault-Tolerant Coordination Control for Four-Wheel Independently Driven Electric Vehicles

Zhang, Duo; Liu, Guohai; Zhou, Huawei; Zhao, Wenxiang

doi:10.1109/tie.2018.2798571

Cited by 109 publications

(62 citation statements)

References 24 publications

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“…To deduce a simple control scheme, the decomposition in fictitious machines concept has been successfully applied to the multiphase drives [24]. These fictitious machines are obtained by applying the linear Concordia transformation given in (2), resulting in the family of harmonic electrical components (voltage, current, back-EMF) illustrated in Table.1. Based on a such decomposition, it is possible to consider each six-phase PMSM as a set of two fictitious magnetically independent two-phase machines (main machine MM and secondary machine SM) and two fictitious zero-sequence one-phase machines (H1M and H2M).…”

Section: Series-connected Two Six-phase Pmsm Configuration and Controlmentioning

confidence: 99%

Inverter fault diagnosis of an electrical series‐connected two sinusoidal six‐phase permanent magnet machines drive

Moraes

Trabelsi

Nguyen

et al. 2020

IET Electric Power Applications

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This paper investigates a real-time fault diagnostic of a transportation system which needs two drives with faulttolerance capabilities. Because of constraints on the mass of the system and on the cost of the Voltage Source Inverter (VSI), a drive with two Six-Phase Permanent Magnet Synchronous Machines (PMSM) in series-connection supplied by two six-leg inverters is chosen. Despite the serial -connection, independent control of the two machines and fault -tolerance to openswitch fault is ensured. Nevertheless, a Fault Detection Identification (FDI) process is required for analysis and/or control reconfiguration. The proposed FDI is based on the combination of different criteria obtained from the two zero-sequence currents and from the normalized currents mapped into two frames defined by the Concordia Transformation. Results obtained from simulation and experimental tests show the effectiveness of the proposal.

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Section: Series-connected Two Six-phase Pmsm Configuration and Controlmentioning

confidence: 99%

Inverter fault diagnosis of an electrical series‐connected two sinusoidal six‐phase permanent magnet machines drive

Moraes

Trabelsi

Nguyen

et al. 2020

IET Electric Power Applications

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show abstract

“…In ref. [5], a new reaching law for sliding mode control is constructed by using a special power function and an inverse hyperbolic sinusoidal function, and an adaptive sliding mode control law is designed using this reaching law. The asymptotic convergence property of the sliding mode control system error is proven.…”

Section: Introductionmentioning

confidence: 99%

Variable-parameter double-power reaching law sliding mode control method

Kang

2020

Automatika

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To solve the problem of the slow convergence rate of the reaching law and the chattering problems in the dynamic response in the sliding mode control, an improved double-power sliding mode reaching law is proposed. The reaching law is adjusted by changing the magnitude of the power terms adaptively at different stages of the system approach process, and the convergence speed of the dynamic response process is greatly improved. Its existence, accessibility and stability are proven by theory. The simulation results show that the improved double-power reaching law is faster than the double-power reaching law and the fast power reaching law. When there is uncertainty in the system, the system state and its derivatives can rapidly converge to the neighborhood of the equilibrium zeros. In the presence of time-varying perturbations of the two-order system, the sliding mode control system based on the improved double-power sliding mode reaching law has higher tracking precision of the given signal and differential signal and effectively reduces the high-frequency chattering phenomenon of the control input signal.

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“…However, this normally occurs in typical manufa- cturing scenarios [9], [10]. To address these limitations, a FAMR with a car-wheeled structure can be independently actuated by in-wheel-driven motors, thus maintaining its free orientation regulation of the four-wheeled actuation system while offering better tolerance to surface irregularity and higher durability of tires [11]- [13]. In this regard, it achieves higher maneuverability and adaptability when applying to uneven or confined operating environments.…”

Section: Introductionmentioning

confidence: 99%

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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Profiting from its remarkable maneuverability and efficiency, the four-wheeled autonomous mobile robot (FAMR) is appealing for intelligent manufacturing and automation applications. However, the suppression of unknown disturbances and system uncertainties remains a challenge for formulating a precise trajectory-tracking control scheme. This paper achieves the anti-disturbance direct yaw moment control of a developed FAMR by proposing a robust super-twisting sliding mode controller (RSSMC) to enhance the dynamic tracking and disturbance rejection property simultaneously. One of the major contributions is that the presented RSSMC method is constructed with a novel reaching law to eliminate the matched perturbations and time-varying lumped disturbances. As another distinguishing feature, this method is capable of driving the resultant FAMR trajectory into a bounded switching region and maintaining it therein for subsequent periods in finite time. To guarantee the closed-loop stability and finite-time convergence, new sufficient conditions for specifying the variable gains are determined utilizing Lyapunov functions. Finally, under the direct yaw moment control framework, simulation experiments of a developed FAMR system are offered to verify the practicability of the RSSMC scheme.

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Adaptive Sliding Mode Fault-Tolerant Coordination Control for Four-Wheel Independently Driven Electric Vehicles

Cited by 109 publications

References 24 publications

Inverter fault diagnosis of an electrical series‐connected two sinusoidal six‐phase permanent magnet machines drive

Inverter fault diagnosis of an electrical series‐connected two sinusoidal six‐phase permanent magnet machines drive

Variable-parameter double-power reaching law sliding mode control method

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

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