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

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

Content Provider	MDPI
Author	Jin, Liqiang Zhang, Zhiyang Li, Jianhua Wang, Junnian
Copyright Year	2020
Description	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.
Starting Page	3214
e-ISSN	19961073
DOI	10.3390/en13123214
Journal	Energies
Issue Number	12
Volume Number	13
Language	English
Publisher	MDPI
Publisher Date	2020-06-20
Access Restriction	Open
Subject Keyword	Energies Transportation Science and Technology Electric Vehicle (ev) In-wheel Motor Fail Operation Linear Quadratic Regulator (lqr) Optimal Torque Distribution
Content Type	Text
Resource Type	Article

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