Backup Pattern for traction system of FWIA electric vehicle to guarantee maneuverability and stability in presence of motor faults and failures

• Published in: Journal of the Franklin Institute Vol. 361; no. 7; p. 106714
• Main Authors: Liang, Zhongchao, Wang, Zhongnan, Duan, Jianghua, Liu, Jian, Wong, Pak Kin, Zhao, Jing
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.05.2024
• Subjects: Driving motor faults and failures; Second-order sliding mode control; Torque allocation; Vehicle dynamic stability; Vehicle maneuverability; Vehicle dynamic stability; Driving motor faults and failures; Second-order sliding mode control; Vehicle maneuverability; Torque allocation
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2024.106714

Faults and failures in driving motors of four-wheel-independently-actuated (FWIA) electric vehicles can lead to hazardous accidents. To address this challenge, this paper introduces a novel “Backup Pattern” by grouping the driving motors into front and rear traction subsystems. This “Backup Pattern” ensures the optimal allocation of driving torque between functional motors, providing a reliable and effective mechanism to mitigate the impact of faulty motors on the vehicle’s overall performance. Based on the torque distribution strategy, a composite controller structure is presented, utilizing the second-order sliding mode algorithm to design both the traction controllers for longitudinal and differential torques and an active-front-steering (AFS) controller for additional steering angle. The composite controller not only enhances the vehicle’s maneuverability and stability but also copes with uncertainties and disturbances in the vehicle system. Hardware-in-loop (HiL) tests validate the superior effectiveness and robustness of the designed controller, showcasing its ability to enhance FWIA electric vehicle performance compared to the conventional first-order sliding mode control-based method.