Fault Diagnosis Algorithm for Driving Motor of In-Wheel Independent Drive Electric Vehicle

Abstract

This paper presents a fault diagnosis algorithm for driving motor of In-wheel independent drive electric vehicle using vehicle dynamic analysis. The driving motor fault is detected and isolated based on the residuals. The residuals are provided with the wheel dynamics. The wheel dynamics are composed of a motor driving torque, wheel speed and longitudinal force. The longitudinal force estimated by analyse a planar two track model and a nonlinear simple tire model. The proposed fault diagnosis algorithm is verified by CarSim® and Matlab/Simulink® cosimulation.