Fault-tolerant control of speed sensors for direct drive in-wheel electric vehicles

doi:10.3969/j.issn.1674-8484.2022.01.007

Abstract

Abstract:

A fault-tolerant diagnosis and control strategy was proposed for direct drive in-wheel electric vehicle based on sensorless algorithm to improve the vehicle driving performance and the handling stability when the speed sensor fails. A three-degree-of-freedom vehicle dynamics model was established to analyze the influences of speed sensor fault on the vehicle dynamic performances. A thresholding characteristic method was applied for diagnosing sensor failure and its type, and a sensorless algorithm was used based on the flux observer to estimate the rotor position angle. A state-switching method was designed based on power angle progressive compensation for smooth torque transition. The speed sensor fault-tolerant control processes under straightforward test condition and double-lane change test condition were verified by Matlab-CarSim co-simulation platform. The results show that the proposed control strategy restores and maintains 100% motor torque output within 3 ms, and eliminate the yaw angular velocity of 0.77 (°)/s, and therefore, improves vehicle driving performances.

Key words: electric vehicles (EV), direct drive in-wheel motors, speed sensors, fault diagnosis, fault tolerant control

CLC Number:

U461

SHAO Jincai, HE Zhiyuan, WANG Zihui. Fault-tolerant control of speed sensors for direct drive in-wheel electric vehicles[J]. Journal of Automotive Safety and Energy, 2022, 13(1): 78-85.

Figures/Tables 11

References 15

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连续输出功率, P	50 kW
最高转速, n	1 200 r·min^-1
定子电阻, R_s	87 mΩ
定子电感, L_s	1.03 mH
簧下惯量, J	1.0 kg·m²
极对数, P_n	10 对
车辆整备质量, m	1.11 t
横摆转动惯量, I_z	1.343 t·m^²
质心到前轴距离, l_a	1.040 m
质心到后轴距离, l_b	1.560 m
车辆轮距, l_d	1.480 m
车轮滚动半径, R	0.298 m

连续输出功率, P	50 kW
最高转速, n	1 200 r·min^-1
定子电阻, R_s	87 mΩ
定子电感, L_s	1.03 mH
簧下惯量, J	1.0 kg·m²
极对数, P_n	10 对
车辆整备质量, m	1.11 t
横摆转动惯量, I_z	1.343 t·m^²
质心到前轴距离, l_a	1.040 m
质心到后轴距离, l_b	1.560 m
车辆轮距, l_d	1.480 m
车轮滚动半径, R	0.298 m