This paper presents an adaptive observer-based approach for the combined state estimation and active fault detection and isolation (FDI) of the individual-wheel-drive (IWD) vehicles. A 3-DOF vehicle model coupled with the Highway Safety Research Institute (HSRI) tire model is established and used as the observation model. Based on this model, the dual unscented Kalman filter (DUKF) technique is employed for the observer design to give fusion results of the interdependent state and parameter variables, which undergo nonlinear transformations, with the minimum square errors. Effectiveness of the proposed algorithm is examined and validated through co-simulation between MATLAB/Simulink and CarSim. The results demonstrate that the DUKF-based observer effectively filters the sensor signals, accurately obtains the longitudinal and lateral velocities, explicitly isolates the faulty wheel(s) and accurately estimates the actual torque(s) even with the presence of noise.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Combined State Estimation and Active Fault Detection of Individual-Wheel-Drive Vehicles: An Adaptive Observer-Based Approach


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Zong, Changfu (Autor:in) / Tomizuka, Masayoshi (Autor:in) / Song, Pan (Autor:in)

    Kongress:

    SAE 2015 World Congress & Exhibition ; 2015



    Erscheinungsdatum :

    2015-04-14




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Combined State Estimation and Active Fault Detection of Individual-Wheel-Drive Vehicles: An Adaptive Observer-Based Approach

    Song, Pan / Zong, Changfu / Tomizuka, Masayoshi | British Library Conference Proceedings | 2015



    A-C individual wheel drive system for land vehicles

    Slabiak, W. | Engineering Index Backfile | 1966