Journal
ENERGIES
Volume 13, Issue 12, Pages -Publisher
MDPI
DOI: 10.3390/en13123214
Keywords
electric vehicle (EV); in-wheel motor; fail operation; linear quadratic regulator (LQR); optimal torque distribution
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Funding
- National Natural Science Foundation of China [51875235]
- Natural Science Foundation of Jilin Province [20170101208JC]
- Jilin Province Science and Technology Development Project [20180414011GH]
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To improve the trackability of in-wheel motor drive (IWMD) and wheel-individual steer electric vehicles (EVs) when steering actuators fail, the fail-operation control strategy was proposed to correct vehicles in a steering failure situation and avoid losing control of vehicle steering. A linear quadratic regulator (LQR) decides the additional yaw moment of the vehicle according to vehicle state errors. The tire force estimation module estimates the compensating resistance moment generated by the failed wheel according to the tire slip angle and the vertical tire force. By isolating the failed wheel, the optimal torque distribution (OTD) controller allocates the additional yaw moment and the compensating resistance moment to normal wheels to realize the fail-operation control of the IWMD vehicle. The control effect was verified through co-simulation of MATLAB/Simulink and Trucksim. Compared with the uncontrolled and direct torque allocation methods, the proposed OTD method reduces the lateral trajectory error of the vehicle by 86% and 60.5%, respectively, when failure occurs, and achieves better velocity maintaining ability, which proves the effectiveness of the proposed fail-operation control strategy.
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