Fault-tolerant braking control with integerated EMBs and regenerative in-wheel motors

• Published in: International journal of automotive technology Vol. 17; no. 5; pp. 923 - 936
• Main Authors: Kim, S., Huh, K.
• Format: Journal Article
• Language: English
• Published: Seoul The Korean Society of Automotive Engineers 01-10-2016; Springer Nature B.V
• Subjects: Actuators; Analysis; Automobile safety; Automotive Engineering; Automotive parts; Brakes; Braking; Braking systems; Control algorithms; Control theory; Controllers; Dynamical systems; Dynamics; Efficiency; Electrical equipment; Engineering; Fault tolerance; Hydraulics; Regenerative; Sensors; Studies; Braking control; Fault-tolerant; Over-actuated; EMB (Electro Mechanical Brake); Regenerative braking
• ISSN: 1229-9138; 1976-3832
• DOI: 10.1007/s12239-016-0090-1

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.