Fault-tolerant braking control with integerated EMBs and regenerative in-wheel motors
- Authors
- Kim, Seungki; Huh, Kun Soo
- Issue Date
- Oct-2016
- Publisher
- KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
- Keywords
- Braking control; EMB (Electro Mechanical Brake); Fault-tolerant; Over-actuated; Regenerative braking
- Citation
- INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, v.17, no.5, pp.923 - 936
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
- Volume
- 17
- Number
- 5
- Start Page
- 923
- End Page
- 936
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4355
- DOI
- 10.1007/s12239-016-0090-1
- ISSN
- 1229-9138
- Abstract
- This paper presents a fault-tolerant brake torque controller for four-wheel-distributed braking systems with in-wheel motors and Electro-Mechanical Brakes (EMB). Mechanical and electrical faults can degrade the performance of the EMB actuators and, thus, their effects need to be compensated in vehicle dynamics level. In this study, the faults are identified as performance degradation and expressed by the gains of each actuator. Assuming the brake force distribution and the regenerative braking ratios, the over-actuated braking system is simplified into a two-input system. A sliding mode controller is designed to track the driver's braking and steering commands, even if there exist faults in EMBs. In addition, adaptive schemes are constructed to achieve the fault-tolerant control in braking. The proposed controller and strategies are verified in the EMB HILS (Hardware-in-loop-simulation) unit for various conditions.
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