Authors: Martin Ringdorfer; Martin Horn
Addresses: Institute of Automation and Control, Graz University of Technology, 8010 Graz, Austria ' Institute of Automation and Control, Graz University of Technology, 8010 Graz, Austria
Abstract: This paper focuses on a propulsion concept for electric vehicles (EVs). The considered actuators consisting of permanent magnet synchronous machines and the conventional hydraulic braking system are mounted on the rear axle of the vehicle and offer new degrees of freedom in vehicle motion control. The proposed control structure consists of cascaded feedback loops for wheel slip, yaw rate and sideslip angle and accesses these actuators concurrently. The focus of the present work is on possible machine/inverter faults. Two characteristic electrical system faults are described, and their impacts on vehicle stability are investigated. It is shown how the proposed vehicle motion controller can preserve driving safety even in the presence of electric system faults. The consequences on vehicle motion are discussed in detail.
Keywords: hybrid vehicles; HEVs; hybrid electric vehicles; electronic stability control; nonlinear control; robust control; HAS; hybrid actuator systems; actuator faults; vehicle dynamics; dynamic modelling; simulation; permanent magnet synchronous machines; PMSM; hydraulic braking; motion control; cascaded feedback loops; wheel slip; yaw rate; sideslip angle; machine faults; inverter faults; vehicle stability; vehicle safety; driving safety; electrical system faults.
International Journal of Vehicle Performance, 2016 Vol.2 No.2, pp.119 - 139
Accepted: 19 Oct 2015
Published online: 14 Mar 2016 *