Title: Coordinated fault tolerant control of over-actuated electric vehicles based on optimal tyre force distribution

Authors: Yugong Luo; Kun Cao; Laiqing Xie; Keqiang Li

Addresses: State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China

Abstract: Actuator faults of the driving/steering/suspension subsystems may lead to instability in over-actuated electric vehicles. Though many fault tolerant control methods that rely on partial subsystems exist, a novel coordinated fault tolerant control (CFTC) method based on optimal longitudinal/lateral/vertical tyre force distribution is proposed. First, the coordination principle of all the actuator subsystems is explained using vehicle dynamics control equations. Then, an optimal longitudinal/lateral/vertical tyre force distribution method is established. Results of simulations and hardware-in-the-loop (HIL) experiments show that the CFTC method successfully coordinates all the subsystems to compensate actuator faults and effectively improve vehicle stability and safety.

Keywords: over-actuated electric vehicles; CFTC; coordinated fault tolerant control; longitudinal/lateral/vertical tyre forces; vehicle safety; vehicle stability.

DOI: 10.1504/IJVD.2017.090905

International Journal of Vehicle Design, 2017 Vol.75 No.1/2/3/4, pp.47 - 74

Accepted: 19 Aug 2017
Published online: 03 Apr 2018 *

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