Coordinated fault tolerant control of over-actuated electric vehicles based on optimal tyre force distribution. (2017)

• Record Type: Journal Article
• Authors: Luo, Yugong; Cao, Kun; Xie, Laiqing; Li, Keqiang
• Is Part Of: International journal of vehicle design. Volume 75:Number 1/2/3/4(2017)
• Page Start: 47
• Page End: 74
• Publication Date: 2017
• Subjects: over-actuated electric vehicles -- CFTC -- coordinated fault tolerant control -- longitudinal/lateral/vertical tyre forces -- vehicle safety -- vehicle stability; Motor vehicles -- Design and construction -- Periodicals; 629.231
• Languages: English
• ISSNs: 0143-3369

Abstract

Actuator faults of the driving/steering/suspension subsystems may lead to instability in over-actuated electric vehicles. Though many fault tolerant control methods that rely on partial subsystems exist, a novel coordinated fault tolerant control (CFTC) method based on optimal longitudinal/lateral/vertical tyre force distribution is proposed. First, the coordination principle of all the actuator subsystems is explained using vehicle dynamics control equations. Then, an optimal longitudinal/lateral/vertical tyre force distribution method is established. Results of simulations and hardware-in-the-loop (HIL) experiments show that the CFTC method successfully coordinates all the subsystems to compensate actuator faults and effectively improve vehicle stability and safety.