Automotive steer-by-wire (SBW) systems have been investigated extensively in order to exploit the additional degrees of control freedom for vehicle dynamics control to improve safety and drive assistance functions. However, the failure of a steering actuator can lead to severe vehicle instability, making it a safety critical system. A fault detection scheme has been developed for an electromechanical steering actuator under closed-loop control. The closed-loop system is modeled as a 2nd order system with bounded parameter uncertainties given by the performance specifications. The residual is generated using an observer-based method. A dynamic adaptive threshold is generated based on the inputs and the measured system outputs to account for the residual deviating from zero under fault-free conditions due to parameter uncertainties. In addition to this, the error of the controlled system output due to a disturbance is handled by the residual evaluation function. This method is tested on a simple simulation as well as experimental data.
Application of adaptive thresholds in robust fault detection of an electro-mechanical single-wheel steering actuator
2012
6 Seiten, 6 Bilder, 1 Tabelle, 10 Quellen
Conference paper
English
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