Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults
A fault-tolerant collaborative control strategy for four-wheel-drive electric vehicles is proposed to address hidden safety issues caused by one or more in-wheel motor faults; the basic design scheme is that the control system is divided into two layers of motion tracking and torque distribution, an...
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MDPI AG
2025-03-01
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| Online Access: | https://www.mdpi.com/1424-8220/25/5/1540 |
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| author | Han Feng Yukun Tao Jianbo Feng Yule Zhang Hongtao Xue Tiansi Wang Xing Xu Peng Chen |
| author_facet | Han Feng Yukun Tao Jianbo Feng Yule Zhang Hongtao Xue Tiansi Wang Xing Xu Peng Chen |
| author_sort | Han Feng |
| collection | DOAJ |
| description | A fault-tolerant collaborative control strategy for four-wheel-drive electric vehicles is proposed to address hidden safety issues caused by one or more in-wheel motor faults; the basic design scheme is that the control system is divided into two layers of motion tracking and torque distribution, and three systems, including driving, braking, and front-wheel steering are controlled collaboratively for four-wheel torque distribution. In the layer of motion tracking, a vehicle model with two-degree-of-freedom is employed to predict the control reference values of the longitudinal force and additional yaw moment required; four types of sensors, such as wheel speed, acceleration, gyroscope, and steering wheel angle, are used to calculate the actual values. At the torque distribution layer, SSOD and MSCD distribution schemes are designed to cope with two operating conditions, namely sufficient and insufficient output capacity after local hub motor failure, respectively, focusing on the objective function, constraints, and control variables of the MSCD control strategy. Finally, two operating environments, a straight-line track, and a DLC track, are set up to verify the effectiveness of the proposed control method. The results indicate that, compared with traditional methods, the average errors of the center of mass sideslip angle and yaw rate are reduced by at least 12.9% and 5.88%, respectively, in the straight-line track environment. In the DLC track environment, the average errors of the center of mass sideslip angle and yaw rate are reduced by at least 6% and 4.5%, respectively. The proposed fault-tolerant controller ensures that the four-wheel-drive electric vehicle meets the requirements of handling stability and safety under one or more hub motor failure conditions. |
| format | Article |
| id | doaj-art-aa0a158ae41b4ff7a0bd03cd7cc659d4 |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-aa0a158ae41b4ff7a0bd03cd7cc659d42025-08-20T02:06:15ZengMDPI AGSensors1424-82202025-03-01255154010.3390/s25051540Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ FaultsHan Feng0Yukun Tao1Jianbo Feng2Yule Zhang3Hongtao Xue4Tiansi Wang5Xing Xu6Peng Chen7School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaThe 60th Research Institute of CRTC, Nanjing 210016, ChinaAnhui Jianghuai Automobile Group Corp., Ltd., Hefei 230022, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaInternational Joint Laboratory on Mobility Equipment and Artificial Intelligence for IT Operations, Zhenjiang 212000, ChinaGraduate School of Bioresources, Mie University, Tsu 514-8507, JapanA fault-tolerant collaborative control strategy for four-wheel-drive electric vehicles is proposed to address hidden safety issues caused by one or more in-wheel motor faults; the basic design scheme is that the control system is divided into two layers of motion tracking and torque distribution, and three systems, including driving, braking, and front-wheel steering are controlled collaboratively for four-wheel torque distribution. In the layer of motion tracking, a vehicle model with two-degree-of-freedom is employed to predict the control reference values of the longitudinal force and additional yaw moment required; four types of sensors, such as wheel speed, acceleration, gyroscope, and steering wheel angle, are used to calculate the actual values. At the torque distribution layer, SSOD and MSCD distribution schemes are designed to cope with two operating conditions, namely sufficient and insufficient output capacity after local hub motor failure, respectively, focusing on the objective function, constraints, and control variables of the MSCD control strategy. Finally, two operating environments, a straight-line track, and a DLC track, are set up to verify the effectiveness of the proposed control method. The results indicate that, compared with traditional methods, the average errors of the center of mass sideslip angle and yaw rate are reduced by at least 12.9% and 5.88%, respectively, in the straight-line track environment. In the DLC track environment, the average errors of the center of mass sideslip angle and yaw rate are reduced by at least 6% and 4.5%, respectively. The proposed fault-tolerant controller ensures that the four-wheel-drive electric vehicle meets the requirements of handling stability and safety under one or more hub motor failure conditions.https://www.mdpi.com/1424-8220/25/5/1540four-wheel drive electric vehiclein-wheel motorfault-tolerant collaborative controlmulti-system collaboration distribution |
| spellingShingle | Han Feng Yukun Tao Jianbo Feng Yule Zhang Hongtao Xue Tiansi Wang Xing Xu Peng Chen Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults Sensors four-wheel drive electric vehicle in-wheel motor fault-tolerant collaborative control multi-system collaboration distribution |
| title | Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults |
| title_full | Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults |
| title_fullStr | Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults |
| title_full_unstemmed | Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults |
| title_short | Fault-Tolerant Collaborative Control of Four-Wheel-Drive Electric Vehicle for One or More In-Wheel Motors’ Faults |
| title_sort | fault tolerant collaborative control of four wheel drive electric vehicle for one or more in wheel motors faults |
| topic | four-wheel drive electric vehicle in-wheel motor fault-tolerant collaborative control multi-system collaboration distribution |
| url | https://www.mdpi.com/1424-8220/25/5/1540 |
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