4륜 인휠(In-Wheel) 모터 전기 자동차의 고장 진단 및 허용 제어

Abstract

This paper presents the fault diagnosis and tolerant control algorithm for four-wheel independently-driven electric ground vehicle. Robust fault tolerant control strategy is proposed to achieve the control objective of ensuring the vehicle to follow the driver's input in spite of fault. Furthermore, a fault diagnosis to determine the size of the fault is proposed. The control strategies after determining the size are derived to either alleviate or maintain the usage of the faulty wheel.