Fault-tolerant control for in-wheel-motor-driven electric ground vehicles in discrete time

Wang, Yulei; Zong, Changfu; Li, Kai; Chen, Hong

doi:10.1016/j.ymssp.2018.11.030

Cited by 32 publications

(19 citation statements)

References 35 publications

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“…It is revealed from Figure 22 that, in the entire start-up procedure, speed estimates fluctuate at the initial period of steps (1) and (2) due to the control mode switching. After the smooth transformation from the open-loop control to the close-loop control in 0.4 s, the maximum speed estimation error is not more than 0.2 r/s.…”

Section: Smooth Transformation From Open-loop Control To Back-mentioning

confidence: 99%

An improved permanent‐magnet synchronous machine sensorless drive based on the fuzzy‐PI phase‐locked loop and the adjustable boundary‐layer FOSMO

Yao

2020

IET Power Electronics

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This study proposes a variable boundary-layer full-order sliding-mode observer (FOSMO) with a fuzzy proportional plus integral (PI) phase-locked loop (PLL) for the sensorless control of a permanent-magnet synchronous machine (PMSM). The sigmoid switching function-based FOSMO, which includes feedback speed information, is presented and considered as the conventional method. To address the contradiction between the convergence performance and the chatter-reduction ability of the sliding-mode control, a fuzzy logic controller (FLC) is introduced to adjust the boundary-layer thickness according to the estimation error. Furthermore, a real-time parameter tuning module is integrated into the PI regulator of the conventional PLL to adjust its noise bandwidth. Hence, adverse effects of disturbance and external noise, especially under transient operations, can be eliminated. An overall PMSM sensorless field-oriented control scheme incorporating the proposed method is designed, and the corresponding experimental platform is constructed. Several groups of comparative experiments reveal that system chatters are largely reduced using the proposed method under both of the high-and low-speed running conditions and the dynamic anti-interference performance can also be significantly improved under load and speed disturbances. Therefore, the feasibility and effectiveness of the proposed variable boundary-layer FOSMO + fuzzy-PI PLL method are validated.

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Section: Smooth Transformation From Open-loop Control To Back-mentioning

confidence: 99%

An improved permanent‐magnet synchronous machine sensorless drive based on the fuzzy‐PI phase‐locked loop and the adjustable boundary‐layer FOSMO

Yao

2020

IET Power Electronics

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“…R ECENT vehicular technologies in both the cyber and physical systems and insistent society demands for the transportation security and efficiency [1]- [3] have greatly accelerated the advancement of autonomous ground vehicles (AGVs) [4], [5]. Complex traffic environment and challenging driving scenarios have brought about higher requirements for AGVs in terms of safety, intelligence, and efficiency [6]- [9]. In this sense, high-performance motion control becomes increasingly important for guaranteeing a safe and robust autonomous driving maneuver [10].…”

Section: Introductionmentioning

confidence: 99%

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Gao

Guo

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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“…Wang and Wang 16 designed a passive nonlinear FTC method, which achieved better control and lower computation time by grouping actuators with the same effect on the system. The methods used in the FTC include sliding mode control, 19,20 nonlinear feedback control, 21 and intelligent algorithm. Huang et al 22 presented a fault-tolerant sliding model predictive control (SMPC) based on the chaos particle swarm optimization (CPSO) for a steer-by-wire (SBW) system, and the simulation results show the proposed SMPC-CPSO outperforms other methods in terms of algorithm convergence characteristic and fault-tolerant capability.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

Zhang

Zhao

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper proposes a cooperative game-based actuator fault-tolerant control strategy for a four-wheel independent drive electric vehicle with an active front steering system. For achieving fault-tolerant control and targets cooperation, a two-dimensional game strategy is proposed to balance the stability and economy. The first-dimensional game is utilized to determine the dominant control target of the actuator, then the second-dimensional game is employed to assign the fault-tolerant control task for the remaining healthy actuators. The two dimensions are integrated based on the linear quadratic differential game theory, and a hybrid weighted Pareto frontier is thus established. A Shapley value based weight calculation method is proposed to obtain a set of fair and unique weights according to the importance of each player, which makes the solution of the optimal control problem more easily obtained. The effectiveness and real-time performance of the control strategy are tested under different scenarios. The simulation results demonstrate that the proposed strategy can balance the stability and economy well, outperforms the traditional method in terms of target tracking performance. For special case, the response of the yaw rate could be improved up to 39.83% comparing to that of the linear quadratic regulator method.

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Fault-tolerant control for in-wheel-motor-driven electric ground vehicles in discrete time

Cited by 32 publications

References 35 publications

An improved permanent‐magnet synchronous machine sensorless drive based on the fuzzy‐PI phase‐locked loop and the adjustable boundary‐layer FOSMO

An improved permanent‐magnet synchronous machine sensorless drive based on the fuzzy‐PI phase‐locked loop and the adjustable boundary‐layer FOSMO

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

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