This paper presents a fault-tolerant control approach for four-wheel independently driven (4WID) electric vehicles. An adaptive control-based passive fault-tolerant controller is designed to ensure vehicle system stability and to track the desired vehicle motion when an in-wheel motor/motor driver fault happens. Due to the system actuation redundancy, it is challenging to isolate the faulty wheel and to accurately estimate the control gain of the faulty in-wheel motor/motor driver for 4WID electric vehicles. An active fault diagnosis (FD) approach is thus proposed to explicitly isolate and evaluate the fault. Based on the estimated control gain of the faulty wheel, the control efforts of all the wheels are redistributed to relieve the torque demand on the faulty wheel. Simulations using a high-fidelity CarSim full-vehicle model show the effectiveness of the proposed in-wheel motor/motor driver active fault diagnosis and fault-tolerant control approaches in various driving scenarios.

Fault-Tolerant Control With Active Fault Diagnosis for Four-Wheel Independently Driven Electric Ground Vehicles

A survey of fault-tolerant controllers based on safety-related issues

This paper proposes a hybrid system named as HGSA-ELM for fault diagnosis of rolling element bearings, in which real-valued gravitational search algorithm (RGSA) is employed to optimize the input weights and bias of ELM, and the binary-valued of GSA (BGSA) is used to select important features from a compound feature set. Three types fault features, namely time and frequency features, energy features and singular value features, are extracted to compose the compound feature set by applying ensemble empirical mode decomposition (EEMD). For fault diagnosis of a typical rolling element bearing system with 56 working condition, comparative experiments were designed to evaluate the proposed method. And results show that HGSA-ELM achieves significant high classification accuracy compared with its original version and methods in literatures.

Compound feature selection and parameter optimization of ELM for fault diagnosis of rolling element bearings.

This paper presents an in-wheel motor fault diagnosis and fault-tolerant control method for four-wheel independently actuated (4WIA) electric vehicles. The 4WIA electric vehicle is one of the promising architectures for electric vehicles. While such a vehicle architecture greatly increases the flexibility for vehicle control, it also elevates the requirements on system reliability, safety, and fault tolerance due to the increased number of actuators. A fault diagnosis approach for finding the faulty in-wheel motor=motor driver pair is developed. The proposed diagnosis approach does not need an accurate knowledge on tire-road friction coefficient (TRFC) and is robust to tire force modeling inaccuracies. Based on the in-wheel motor=motor driver fault diagnosis mechanism, a control-allocation based vehicle fault-tolerant control system is designed to accommodate the in-wheel motor=motor driver fault by automatically allocating the control effort among other healthy wheels. Simulations using a high-fidelity, CarSimVR , full-vehicle model show the effectiveness of the proposed in-wheel motor=motor driver fault diagnosis and fault-tolerant control approaches. [DOI: 10.1115/1.4005050]

Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors

Fault-tolerant actuators and drives—Structures, fault detection principles and applications

Fault diagnosis of dynamical systems using recurrent fuzzy systems with application to an electrohydraulic servo axis

Mechatronic components allow to design systems with many new functionalities and to turn away from classical design paradigms which had been required for purely mechanical designs. However, the increase in complexity and the renunciation from purely mechanical to electro-mechanical designs goes along with an increase in the possibility of unpredictable faults. Therefore, the design paradigm also has to increase from fault detection and diagnosis to fault-tolerance by redundancy at least for safety related applications. The idea for this paradigm change is that faults cannot entirely be avoided in complex systems. Rather, the occurence of faults is accepted and measures are taken as to limit the implications of the fault and maintain the operability despite these impairments caused by the fault. The paper at hand will first introduce the overall setup of a component respectively system with integrated fault management. Fault detection and diagnosis are compactly sketched before fault tolerance principles are introduced. The paper looks at both hardware tolerance and analytical tolerance. As the reaction to the fault can cause a functional degradation even in the presence of redundancy, the different degradation steps are also introduced. Then, different designs of fault tolerant electric and hydraulic actuators as well as sensors are presented. An essential requirement for the inclusion of the designs into this paper was at least an experimental realization of the concept. A total of 11 different designs is presented. Finally, the different designs are compared and future developments are shortly discussed

Fault diagnosis and fault tolerance of drive systems - Status and research

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2008/data/papers/4066.pdf

Mark Beck

Papers

Fault-tolerant actuators and drives—Structures, fault detection principles and applications

Fault diagnosis of dynamical systems using recurrent fuzzy systems with application to an electrohydraulic servo axis

Fault diagnosis and fault tolerance of drive systems - Status and research

Model Adjustment and Multi-Model Based Fault Diagnosis for Hydraulic Servo Axis

Modelling and Identification of an axial parallel EPS System