Fault Tolerance Algorithm of Steering Actuator in Three-Wheeled Electric Mobility Based on Model Predictive Control

Abstract

Three-wheeled electric mobility is an effective means of transport in a small and narrow space. As this electric mobility is widely utilized, the request of safety and performance for this mobility has become important. And thus a fault tolerance function needs to be developed to minimize the user's intervention and improve driving performance. Fault-tolerance technology is applied mainly to sensors, but a fault tolerance function is also required from the viewpoint of driving-related actuators.In this paper, a fault tolerance algorithm is proposed taking use of newly-proposed concept steering fault disturbance and Model Predictive Control (MPC).To this end, an index is proposed to represent the failure of the steering motor as an objective numerical value, and this index is used for the driving controller of electric mobility.In this driving controller, MPC is designed based on a dynamic model of three-wheeled electric mobility to regulate the input values of steering angle and yaw moment to maintain driving performance by referring to the proposed index.By using the proposed algorithm based on the MPC, electric mobility can drive along a given route without user's intervention in the event of a breakdown. The proposed fault tolerance algorithm is verified through various driving scenarios using a simulation model that reflects three-wheeled electric mobility. © 2021 IEEE.