Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation
To improve the trackability of in-wheel motor drive (IWMD) and wheel-individual steer electric vehicles (EVs) when steering actuators fail, the fail-operation control strategy was proposed to correct vehicles in a steering failure situation and avoid losing control of vehicle steering. A linear quad...
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| Format: | Article |
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MDPI AG
2020-06-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/13/12/3214 |
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| author | Liqiang Jin Zhiyang Zhang Jianhua Li Junnian Wang |
| author_facet | Liqiang Jin Zhiyang Zhang Jianhua Li Junnian Wang |
| author_sort | Liqiang Jin |
| collection | DOAJ |
| description | To improve the trackability of in-wheel motor drive (IWMD) and wheel-individual steer electric vehicles (EVs) when steering actuators fail, the fail-operation control strategy was proposed to correct vehicles in a steering failure situation and avoid losing control of vehicle steering. A linear quadratic regulator (LQR) decides the additional yaw moment of the vehicle according to vehicle state errors. The tire force estimation module estimates the compensating resistance moment generated by the failed wheel according to the tire slip angle and the vertical tire force. By isolating the failed wheel, the optimal torque distribution (OTD) controller allocates the additional yaw moment and the compensating resistance moment to normal wheels to realize the fail-operation control of the IWMD vehicle. The control effect was verified through co-simulation of MATLAB/Simulink and Trucksim. Compared with the uncontrolled and direct torque allocation methods, the proposed OTD method reduces the lateral trajectory error of the vehicle by 86% and 60.5%, respectively, when failure occurs, and achieves better velocity maintaining ability, which proves the effectiveness of the proposed fail-operation control strategy. |
| first_indexed | 2024-03-10T18:59:10Z |
| format | Article |
| id | doaj.art-52dd479906ce48489159b1ba88af3666 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-10T18:59:10Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-52dd479906ce48489159b1ba88af36662023-11-20T04:29:19ZengMDPI AGEnergies1996-10732020-06-011312321410.3390/en13123214Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment CompensationLiqiang Jin0Zhiyang Zhang1Jianhua Li2Junnian Wang3State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaTo improve the trackability of in-wheel motor drive (IWMD) and wheel-individual steer electric vehicles (EVs) when steering actuators fail, the fail-operation control strategy was proposed to correct vehicles in a steering failure situation and avoid losing control of vehicle steering. A linear quadratic regulator (LQR) decides the additional yaw moment of the vehicle according to vehicle state errors. The tire force estimation module estimates the compensating resistance moment generated by the failed wheel according to the tire slip angle and the vertical tire force. By isolating the failed wheel, the optimal torque distribution (OTD) controller allocates the additional yaw moment and the compensating resistance moment to normal wheels to realize the fail-operation control of the IWMD vehicle. The control effect was verified through co-simulation of MATLAB/Simulink and Trucksim. Compared with the uncontrolled and direct torque allocation methods, the proposed OTD method reduces the lateral trajectory error of the vehicle by 86% and 60.5%, respectively, when failure occurs, and achieves better velocity maintaining ability, which proves the effectiveness of the proposed fail-operation control strategy.https://www.mdpi.com/1996-1073/13/12/3214electric vehicle (EV)in-wheel motorfail operationlinear quadratic regulator (LQR)optimal torque distribution |
| spellingShingle | Liqiang Jin Zhiyang Zhang Jianhua Li Junnian Wang Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation Energies electric vehicle (EV) in-wheel motor fail operation linear quadratic regulator (LQR) optimal torque distribution |
| title | Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation |
| title_full | Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation |
| title_fullStr | Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation |
| title_full_unstemmed | Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation |
| title_short | Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation |
| title_sort | fail operation control of in wheel motor drive electric vehicle based on wheel isolation and yaw moment compensation |
| topic | electric vehicle (EV) in-wheel motor fail operation linear quadratic regulator (LQR) optimal torque distribution |
| url | https://www.mdpi.com/1996-1073/13/12/3214 |
| work_keys_str_mv | AT liqiangjin failoperationcontrolofinwheelmotordriveelectricvehiclebasedonwheelisolationandyawmomentcompensation AT zhiyangzhang failoperationcontrolofinwheelmotordriveelectricvehiclebasedonwheelisolationandyawmomentcompensation AT jianhuali failoperationcontrolofinwheelmotordriveelectricvehiclebasedonwheelisolationandyawmomentcompensation AT junnianwang failoperationcontrolofinwheelmotordriveelectricvehiclebasedonwheelisolationandyawmomentcompensation |