Abstract
This paper proposes á degree of fault isolability concept and active fault diagnosis method for redundantly actuated vehicle systems. Fault isolability is a structural property related to system dynamics and composition of actuators and sensors. Existing research on testing fault isolability has involved checking whether the system is isolable, i.e., binary in nature. A continuous value rather than a binary metric is needed to evaluate how isolable a given system fault is based on a specific measurement set. After fault components are isolated, the fault type and magnitude are estimated by analyzing residual vectors. In a redundantly actuated system, the number of controls/actuators is greater than the system mobility. Thus, the control input distribution to achieve a given control objective is not unique. In the case of a fault, the active fault diagnosis system adjusts the control input distribution to diagnose the fault. Thus, much more system information can be identified by additional excitation through a redundantly actuated system, which improves the fault diagnosis performance. Simulation results of a four-wheel independently driven and steered vehicle model validated the proposed degree of fault isolability and the effectiveness of the proposed active fault diagnosis method.
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Abbreviations
- m :
-
total mass of vehicle
- I zz :
-
yaw moment of inertia about yaw axis
- l f :
-
distance from C.G. to front axle
- l r :
-
distance from C.G. to rear axle
- C f :
-
cornering stiffness of front tire
- C r :
-
cornering stiffness of rear tire
- w :
-
front track width
- \({\vec f_A}\) :
-
additive actuator fault
- \({\vec f_Y}\) :
-
additive sensor fault
- P :
-
multiplicative actuator fault
- Q :
-
multiplicative sensor fault
- v x :
-
longitudinal velocity of vehicle
- v y :
-
lateral velocity of vehicle
- r :
-
yaw rate of vehicle
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Park, S., Park, Y. & Park, Y.S. Degree of fault isolability and active fault diagnosis for redundantly actuated vehicle system. Int.J Automot. Technol. 17, 1045–1053 (2016). https://doi.org/10.1007/s12239-016-0102-1
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DOI: https://doi.org/10.1007/s12239-016-0102-1