| FAULT-TOLERANT BRAKING CONTROL WITH INTEGERATED EMBs AND REGENERATIVE IN-WHEEL MOTORS |
| S. KIM, K. HUH |
| Hanyang University |
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| ABSTRACT |
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This paper presents a fault-tolerant brake torque controller for four-wheel-distributed braking systems with inwheel motors and Electro-Mechanical Brakes (EMB). Mechanical and electrical faults can degrade the performance of the EMB actuators and, thus, their effects need to be compensated in vehicle dynamics level. In this study, the faults are identified as performance degradation and expressed by the gains of each actuator. Assuming the brake force distribution and the regenerative braking ratios, the over-actuated braking system is simplified into a two-input system. A sliding mode controller is designed to track the driver |
| Key Words:
Braking control, EMB (Electro Mechanical Brake), Fault-tolerant, Over-actuated, Regenerative braking |
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