Fault detection scheme for a road vehicle with four independent single-wheel electric motors and steer-by-wire system

Abstract

Unknown input observers (UIO) can be used in the model-based fault diagnosis (FD) system to reduce or eliminate the effect of unknown disturbances present on the process and used to create a set of residuals that are decoupled and sensitive to faults. In this work, a new FD scheme of the In-Wheel motors electric vehicle (IWM-EV) with active front steering was carried out, as well as the design of the fault isolation banks of UIOs. These banks are used to generate residuals that are robust againts to noise and are sensitive to only one fault. This way the faults in the steering or in-wheel actuator are detected and isolated with a higher rate of accuracy. The proposed FD scheme is verified by Carsim® and Matlab/Simulink® cosimulation. © 2017 Taylor & Francis Group, London.