1091 KB35 KB199920252017Gáspár, PéterMihály, AndrásNémeth, Balázsštevilka:1letnik:63str. 35-44ISSN:0039-2480COBISSID_HOST:15211803URN:URN:NBN:SI:doc-72SNBVI7enZveza strojnih inženirjev in tehnikov Slovenije etc.Strojniški vestnikavtobusipogonski motorji v kolesurekonfigurabilno vodenjeupor pri zavijanjuRobust fault-tolerant control of in-wheel driven bus with cornering energy minimization|The aim of this paper is to design fault-tolerant and energy optimal trajectory tracking control for a four-wheel independently actuated (FWIA) electric bus with a steer-by-wire steering system. During normal driving conditions, the architecture of the proposed controller enables the bus to select an energy optimal split between steering intervention and torque vectoring, realized by the independently actuated in-wheel motors by minimizing the cornering resistance of the bus. In the case of skidding or a fault event of an in-wheel motor or the steering system, a high-level control reconfiguration using linear parameter varying (LPV) techniques is applied to reallocate control signals in order to stabilize the bus. The main novelty of the paper is the control reconfiguration method based on the specific characteristics of the in-wheel bus which enables introducing such scheduling variables, with which the safety and efficiency of the FWIA bus can be enhancedGospodarna in do okolja prijazna cestna vozila postajajo vse bolj priljubljena, raziskave vozil s pogonskimi elektromotorji v kolesih pa v tem kontekstu pridobivajo na pomenu zaradi prednosti te arhitekture. Največja korist od vgradnje pogonskih elektromotorjev v kolesa je v tem, da omogoča snovanje visokoučinkovitih in na napake neobčutljivih krmilnikov gibanja. Štirikolesna vozila z neodvisnimi kolesnimi pogoni (FWIA) so sama po sebi prekrmiljena, zato se pri njih ponujajo širše priložnosti za analizo različnih nalog vodenjaTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo