Mechanical & Aerospace Engineering

Biography

This talk is to present a novel fault-tolerant control method based on control allocation via dynamic constrained optimization for electric vehicles with X-by-Wire (XBW) systems. The total vehicle control command is first derived based on interpretation on driver's intention as a set of desired vehicle body forces, which is further dynamically distributed to the control command of each actuator among vehicle four corners. In the proposed method, both actuator dynamics and input/output constraints are fully taken into consideration in the control design. Other objectives include minimizing the power consumption and the slew rate of the actuator outputs. As a result, this leads to frequency-dependent allocation that reflects the bandwidth of each actuator. A dynamic constrained optimization method is proposed with the cost function set to be a linear combination of multiple control objectives, such that the control allocation problem is transformed into a linear programming formulation. An analytical yet explicit solution is then derived, which not only provides a systematic approach in handling the actuation faults, but also is efficient and real-time feasible for in-vehicle implementation. The simulation and experimental results show that the proposed method is valid and effective in maintaining vehicle operation and in improving the actuator response and subsequently the handling performance as expected even with faults.

Abstract

Abstract : Allocation-based fault tolerant control with actuator dynamics for X-by-wire electric vehicles