Fault-Tolerant Control of Electric Vehicles with In-Wheel Motors through Tyre-Force Allocation

This paper presents a fault handling strategy for electric vehicles with in-wheel motors. The ap-plied control algorithm is based on tyre-force allocation. One complex tyre-force allocation meth-od, which requires non-linear optimization, as well as a simpler tyre force allocation method are developed and applied. A comparison between them is conducted and evaluated against a standard reference vehicle with an Electronic Stability Control (ESC) algorithm. The faults in consideration are electrical faults that can arise in in-wheel motors of permanent-magnet type. The results show for both tyre-force allocation methods an improved re-allocation after a severe fault and thus re-sults in an improved state trajectory recovery. Thereby the proposed fault handling strategy be-comes an important component to improve system dependability and secure vehicle safety.QC 20130611