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Fault-tolerant control of steer-by-wire systems under voltage and current sensors faults

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Abstract

Steer-by-wire (SBW) systems benefit from several advantages including lower weight, volume, and cost compared to counterpart electric power steering systems. However, system reliability is impacted since SBW performance is highly dependent on correct operation of several voltage, current, speed, yaw rate, and position sensors. This paper presents a new method in SBW system reliability improvement by introducing a novel fault detection, isolation, and reconstruction (FDIR) control technique. The proposed FDIR method detects if any fault is observed on voltage or current sensors and identifies the faulty sensor location. Additionally the identified faulty sensor’s output is replaced with an estimated value to allow system continuous fault-ride through operation. The SBW system equipped with proposed FDIR technique provides fault-tolerance property against up to 3 faulty voltage or current sensors. Therefore, enhanced overall reliability is obtained at no further hardware costs associated with additional sensors redundancy solutions. The proposed technique is studied using system modelling and hardware prototyping, and its effectiveness is demonstrated using simulation and experimental results.

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Abbreviations

\( i_{a} ,i_{b} ,i_{c} \) :

Three-phase stator currents

\( v_{a} ,v_{b} ,v_{c} \) :

Three-phase stator voltages

\( i_{d} ,i_{q} ,i_{d}^{*} ,i_{q}^{*} \) :

Stator current components in rotor reference frame and their reference values

\( v_{d} ,v_{q} ,\hat{v}_{d} ,\hat{v}_{q} \) :

Stator voltage components in rotor reference frame and their estimation

\( v_{\alpha }^{*} ,v_{\beta }^{*} \) :

Stator voltage components in stationary reference frame

\( x \) :

Stator phase voltage or current variable

\( T_{\text{D}} \) :

Driver steering torque

\( v_{ae} ,v_{be} ,v_{ce} \) :

Stator voltage assigned values

\( i_{ae} ,i_{be} ,i_{ce} \) :

Stator current assigned values

\( \theta_{\text{s}} ,\theta_{{{\text{s}}_{\text{est}} }} \) :

Measured and estimated steering wheel angle

\( k_{1} \) :

Constant ratio

\( \theta_{2}^{*} ,\theta_{{{\text{r}}2}} \) :

Road-wheel (RW) motor reference and measured angles

\( T_{{{\text{m}}2}} \) :

RW motor torque

\( T_{1}^{*} \) :

Hand-wheel (HW) motor torque reference

\( R_{\text{s}} \) :

Stator winding per phase resistance

\( L_{\text{s}} \) :

Stator winding per phase inductance

\( \psi_{\text{PM}} \) :

Rotor magnet flux

\( \psi_{sd} ,\psi_{sq} \) :

Stator flux components in rotor reference frame

\( v_{0} ,i_{0} \) :

Stator voltage and current zero-sequence components

\( \overset{\lower0.5em\hbox{$\smash{\scriptscriptstyle\frown}$}}{\theta }_{\text{e}} ,\theta_{\text{e}} \) :

Estimated and measured rotor angles

\( p \) :

Differential operator

\( \omega_{\text{e}} \) :

Rotor electrical speed

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, 84156-83111, Iran

    Seyed Abolfazl Mortazavizadeh, Mohammad Ebrahimi & Masood Hajian

  2. Hybrid Electric Vehicles BU VT, Dearborn, MI, 48120, USA

    Ahmad Ghaderi

Authors
  1. Seyed Abolfazl Mortazavizadeh
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  2. Mohammad Ebrahimi
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  3. Ahmad Ghaderi
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  4. Masood Hajian
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Correspondence to Mohammad Ebrahimi.

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Mortazavizadeh, S.A., Ebrahimi, M., Ghaderi, A. et al. Fault-tolerant control of steer-by-wire systems under voltage and current sensors faults. Electr Eng 103, 407–415 (2021). https://doi.org/10.1007/s00202-020-01087-3

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  • DOI: https://doi.org/10.1007/s00202-020-01087-3

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