Torque Fault-Tolerant Hierarchical Control of 4WID Electric Vehicles Based on Improved MPC and SMC

Huang, Xun; Zha, Yunfei; Lv, Xiaolong; Quan, Xiaoyu

doi:10.1109/access.2023.3336416

Cited by 3 publications

(1 citation statement)

References 47 publications

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“…Currently, fault-tolerant control strategies of braking systems mainly realize error tolerance by redistributing the braking force and seldom consider the influence of the failure itself on the fault-tolerant controller, and the research objects are mainly focused on passenger cars, especially four-wheel independent drive electric vehicles [29][30][31], while relatively little research has been carried out on EBS for commercial vehicles. Therefore, we established a generalized fault model based on EBS to simulate the vast majority of faults that may occur in the actual operation of vehicles.…”

Section: Introductionmentioning

confidence: 99%

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Cui,

Bao,

Guo

et al. 2024

Actuators

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With the development of safety technologies for intelligent commercial vehicles, electronic pneumatic braking systems (EBSs) have been widely used. However, EBS actuators may fail during vehicle operation and thus create safety problems. For this reason, we propose a path-tracking fault-tolerant control strategy under EBS actuator failure in intelligent commercial vehicles. First, in order to be able to characterize different types of brake actuator faults during the EBS differential braking process of a vehicle, a comprehensive fault coefficient for calculating the degree of fault is designed, and a BES generalized fault model is established. Second, the faults are introduced into the fault-tolerant controller through the comprehensive fault coefficients for braking torque calculation and braking pressure allocation. Thus, a vehicle path model with the complete fault coefficients as variable parameters is established. Then, based on the LPV system gain scheduling, a path-tracking LPV/H∞ fault-tolerant controller under EBS actuator faults in commercial vehicles is designed, which is used to solve the safety problem arising from sudden EBS actuator faults. Finally, we conducted experimental validation through hardware-in-the-loop tests. The results demonstrate that the control strategy designed in this paper redistributes the braking torque and synergizes with the steering system to enhance vehicle stability, thereby improving vehicle safety in the EBS failure mode.

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Section: Introductionmentioning

confidence: 99%

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Cui,

Bao,

Guo

et al. 2024

Actuators

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Research on Vehicle Stability Control Based on a Union Disturbance Observer and Improved Adaptive Unscented Kalman Filter

Li,

Feng,

Zhang

et al. 2024

Electronics

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This paper considers external disturbances imposed on vehicle systems. Based on a vehicle dynamics model of the vehicle with three degrees of freedom (3-DOFs), a union disturbance observer (UDO) composed of a nonlinear disturbance observer (NDO) and an extended state observer (ESO) was designed to obtain external disturbances and unmodeled items. Meanwhile, an improved adaptive unscented Kalman filter (iAUKF) with anti-disturbance and anti-noise properties is proposed, based on the UDO and the unscented Kalman filter (UKF) method, to evaluate the sideslip angle of vehicle systems. Finally, a vehicle yaw stability controller was designed based on UDO and the global fast terminal sliding mode control (GFTSMC) method. The results of co-simulation demonstrated that the proposed UDO was effectively able to observe external disturbances and unmodeled items. The proposed iAUKF, which considers external disturbances, not only achieves adaptive updating and adjustment of filtering parameters under different sensor noise intensities but can also resist external disturbances, improving the estimation accuracy and robustness of the UKF. In the anti-disturbance performance test, the maximum estimation error of the sideslip angle of the iAUKF under the three working conditions was less than 0.1°, 0.02°, and 0.5°, respectively. Based on the UDO and the GFTSMC, a vehicle yaw stability controller is described, which improves the accuracy of control and the robustness of the vehicle’s stability control system and greatly strengthens the driving safety of the vehicle.

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Fault-Tolerant Control Study of Four-Wheel Independent Drive Electric Vehicles Based on Drive Actuator Faults

Guo,

Bao,

Cao

et al. 2024

Machines

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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.

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Torque Fault-Tolerant Hierarchical Control of 4WID Electric Vehicles Based on Improved MPC and SMC

Cited by 3 publications

References 47 publications

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Research on Vehicle Stability Control Based on a Union Disturbance Observer and Improved Adaptive Unscented Kalman Filter

Fault-Tolerant Control Study of Four-Wheel Independent Drive Electric Vehicles Based on Drive Actuator Faults

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