Robust Fault-Tolerant Control of In-Wheel Driven Bus with Cornering Energy Minimization

Mihály, András and Gáspár, Péter and Németh, Balázs (2017) Robust Fault-Tolerant Control of In-Wheel Driven Bus with Cornering Energy Minimization. STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING, 63 (1). pp. 35-44. ISSN 0039-2480 10.5545/sv-jme.2016.3639


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The aim of this paper is to design fault-tolerant and energy optimal trajectory tracking control for a four-wheel independently actuated (FWIA) electric bus with a steer-by-wire steering system. During normal driving conditions, the architecture of the proposed controller enables the bus to select an energy optimal split between steering intervention and torque vectoring, realized by the independently actuated in-wheel motors by minimizing the cornering resistance of the bus. In the case of skidding or a fault event of an in-wheel motor or the steering system, a high-level control reconfiguration using linear parameter varying (LPV) techniques is applied to reallocate control signals in order to stabilize the bus. The main novelty of the paper is the control reconfiguration method based on the specific characteristics of the in-wheel bus which enables introducing such scheduling variables, with which the safety and efficiency of the FWIA bus can be enhanced.

Item Type: Article
Uncontrolled Keywords: SYSTEM; MOTORS; Electric vehicles; ROAD FRICTION ESTIMATION; cornering resistance; reconfigurable control; FWIA bus; In-wheel motor
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Systems and Control Lab
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 17 Feb 2017 08:24
Last Modified: 21 Jul 2019 14:01

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