Robust fault-tolerant cruise control of electric vehicles based on second-order sliding mode observer

Suneel Kumar Kommuri (1) , Jagat Jyoti Rath (1) , Kalyana Chakravarthy Veluvolu (1) , Michael Defoort (2)

1 KNU - Kyungpook National University [Daegu]
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper presents fault-tolerant cruise control of an electric vehicle based on the permanent magnet synchronous motor (PMSM). A higher order sliding mode (HOSM) observer is designed to estimate the unknown back electro motive forces (EMFs) in the plant dynamics. A finite-time smooth estimation without low-pass filtering is obtained and the chattering phenomenon is eliminated. With the estimated back EMFs, an accurate speed estimate of PMSM can be algebraically computed. The estimated speed is provided as a feedback whenever fault occurs in the measurement speed. The corresponding torque output drives the electric vehicle (train, car) to maintain the vehicle speed to a desired vehicle speed reference. Simulations in a high fidelity CarSim confirm the validity of the overall approach.

Mots clés: "Estimation"; "Vehicles"; "Torque"

Domaines: Automatique / Robotique

Suneel Kumar Kommuri, Jagat Jyoti Rath, Kalyana Chakravarthy Veluvolu, Michael Defoort. Robust fault-tolerant cruise control of electric vehicles based on second-order sliding mode observer. 2014 14th International Conference on Control, Automation and Systems (ICCAS), Oct 2014, Gyeonggi-do, South Korea. pp.698-703, ⟨10.1109/ICCAS.2014.6987869⟩. ⟨hal-03418698⟩