The authors propose a multisensor switching strategy for fault-tolerant vector control of induction motors. The proposed strategy combines three current sensors and associated observers that estimate the rotor flux. The estimates provided by the observers are compared at each sampling time by a switching mechanism which selects the sensors-observer pair with the smallest error between the estimated flux magnitude and a desired flux reference. The estimates provided by the selected pair are used to implement a vector control law. The authors consider both field-oriented control and direct torque and flux control schemes. Pre-checkable conditions are derived that guarantee fault tolerance under an abrupt fault of a current sensor. These conditions are such that the observers that use measurements from the faulty sensor are automatically avoided by the switching mechanism, thus maintaining good performance levels even in the presence of a faulty sensor. Simulation results under realistic conditions illustrate the effectiveness of the scheme.
In this paper, tyres longitudinal forces, vehicle side slip angle and velocity are identified and estimated using sliding modes observers. Longitudinal forces are identified using higher order sliding mode observers. In the estimation of the vehicle side slip angle and vehicle velocity, an observer based on the broken super-twisting algorithm is proposed. Validations with the simulator VE-DYNA pointed out the good performance and the robustness of the proposed observers. After validating these observers, controller design for the braking is accomplished using a reduced state space model representing the movement of the vehicle centre of gravity in the (X, Y) plane. Driver's reactions are taken into account. The performance of the closed loop system is carried out by means of simulation tests.
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