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Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation

Author

Listed:
  • Liqiang Jin

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Zhiyang Zhang

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Jianhua Li

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

  • Junnian Wang

    (State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China)

Abstract

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.

Suggested Citation

  • Liqiang Jin & Zhiyang Zhang & Jianhua Li & Junnian Wang, 2020. "Fail-Operation Control of In-Wheel Motor Drive Electric Vehicle Based on Wheel Isolation and Yaw Moment Compensation," Energies, MDPI, vol. 13(12), pages 1-14, June.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:12:p:3214-:d:374281
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    Cited by:

    1. Fausto Pedro García Márquez, 2022. "Special Issue on Advances in Maintenance Management," Energies, MDPI, vol. 15(7), pages 1-4, March.

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