Hybrid Electric Vehicle Fault Tolerant Control

Abstract

This paper investigates the supervisory-level, fault tolerant control of a 2004 Prius powertrain. The fault considered is an interturn short circuit (ITSC) fault in the traction drive (a surface mount permanent magnet synchronous machine (SPMSM) for which its rotor is part of the vehicle's driveline). ITSC faults arise from electrical insulation failures in the stator windings where part of a phase winding remains functional while the remaining decoupled windings form a self-contained loop. Because the permanent magnets on the rotor (driveline) shaft are able to induce very large eddy currents in this self-contained loop if its rotational velocity is left unchecked, the maximum allowable driveline speed, and consequently, vehicle speed, must be reduced to avoid exceeding the drive's operational thermal limits. A method for detecting these ITSC faults and the induced eddy current in an SPMSM using a moving horizon observer (MHO) is reviewed. These parameters then determine which previously computed, fault-level-dependent SPMSM input–output power efficiency map and maximum safe operating speed is utilized by the supervisory-level controller. The fault tolerant control is demonstrated by simulating a Prius over a 40 s drive velocity profile with fault levels of 0.5%, 1%, 2%, and 5% detected at the midpoint of the profile. For comparison, the Prius is also simulated without a traction motor fault. Results show that the control reduces vehicle velocity upon detection of a fault to an appropriate safe value.