Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (11): 125-131.doi: 10.3969/j.issn.1000-565X.2013.11.021

• Automotive Engineering • Previous Articles     Next Articles

Fault- Tolerant Control of 4WID/4WIS Electric Vehicles Based on Reconfigurable Control Allocation

Liu Jie1 Liu Chao1 Zong Chang- fu1 Zheng Hong- yu1 Liu Ming- hui2   

  1. 1.State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,Jilin,China;2. R&D Center,China FAW Group Corporation,Changchun 130011,Jilin,China
  • Received:2013-04-07 Revised:2013-07-12 Online:2013-11-25 Published:2013-10-11
  • Contact: 宗长富(1962-)，男，教授，博士生导师．主要从事汽车动态仿真及控制研究． E-mail:zong.changfu@ascl.jlu.edu.cn
  • About author:刘杰(1973-)，男，博士生，主要从事电动汽车动力系统研究．E- mail: jet_lew@sina．com
  • Supported by:

    国家自然科学基金资助项目(51105165);吉林大学汽车仿真与控制国家重点实验室开放基金资助项目(20121123)

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Abstract:

Proposed in this paper is a fault- tolerant control (FTC) algorithm for the 4WID/4WIS electric vehiclesafter faults,which takes the maximum post- fault vehicle stability as the control objective.The fault- tolerant control-ler adopts a hierarchical structure consisting of an upper motion controller based on the model predictive control(MPC) theory and a lower reconfigurable control allocator based on the reconfigurable control allocation method.Moreover,a re- allocation law considering multiple fault conditions of the driving motor is designed off line so as tomaintain the desired vehicle dynamics after faults.Simulated results show that the proposed FTC algorithm guaran-tees the desired dynamics and trajectory even under multiple fault conditions of the driving motor,so that it im-proves the post- fault stability and safety as well as the handling of vehicles.

Key words: automotive engineering, fault- tolerant control, electric vehicle, model predictive control, reconfigurablecontrol allocation

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