Fault Detection and Isolation of Vehicle Dynamics Sensors and Actuators for an Overactuated X-by-Wire Vehicle

被引：0

作者：

Ho, Lok Man ^{[1
]}

Ossmann, Daniel ^{[1
]}

机构：

[1] German Aerosp Ctr DLR, Inst Syst Dynam & Control, Muenchener Str 20, D-82234 Wessling, Germany

来源：

2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2014年

关键词：

vehicle dynamics; fault detection; structured residuals; rational nullspace method;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Model-based fault detection and isolation (FDI) for an overactuated mechatronic vehicle is presented. The linear single-track model is extend to reflect the layout of the overactuated vehicle as well as its longitudinal dynamics, and sensor and actuator faults are added into the model. The DLR Fault Detection Toolbox, which makes use of rational nullspace bases computation to design residual generators, is used for the systematic design of structured residuals. A minimum set of residuals is selected according to their robustness and ability to isolate faults. The fault detection and isolation system is validated in a simulation in connection with a double track model using the parameters of the ROboMObil prototype vehicle.

引用

页码：6560 / 6566

页数：7

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