This paper deals with the implementation of a structural approach studying the possibilities to deal with faults in an over-actuated intelligent autonomous vehicle, named RobuCar. This vehicle has four electromechanical wheel systems that are used to control the overall vehicle. The main goal of the presented procedure is to verify the ability to perform system reconfiguration by exploiting the structural, and causal properties of the bond graph model of a quarter of vehicle. Hence, the Bond graph tool is used to model the dynamic system, and the measurement architecture. Moreover, from the graphical model analytical redundancy relations are systematically generated to detect and isolate faults in the process. Finally, the previous information is used for verification of structural fault tolerance conditions also by using the same graphical tool. The overall approach is then used to create a Boolean fault and reconfigurable signature matrix, which indicates the faults that can be structurally recovered. In order to validate the structural results, one fault scenario is applied to the RobuCar.
Structural reconfiguration conditions based on bond graph approach: Application to an intelligent autonomous vehicle
2012
6 Seiten, 9 Bilder, 2 Tabellen, 13 Quellen
Aufsatz (Konferenz)
Englisch
Bentham Science Publishers | 2012
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