System and method of robust fault detection for a vehicle steer-by-wire system
First Claim
1. A method of model-based fault detection for a vehicle steer-by-wire system, the method comprising:
- providing a steer-by-wire controlled plant with electric motor actuators, sensors, and other electrical and mechanical components and assembly providing a steer-by-wire controller for the steer-by-wire controlled plant to implement a steer-by-wire closed-loop system control;
providing a steer-by-wire fault detection unit in electrical communication with steer-by-wire controlled plant and the steer-by-wire controller to detect faults of the steer-by-wire controlled plant;
receiving input and output signals from the steer-by-wire controlled plant and vehicle signals from the vehicle;
providing a residual generator in the steer-by-wire fault detection unit based on a mathematical model of steer-by-wire controlled plant without any fault in the controlled plant to implement an estimation for input signals, output signals, and states of the steer-by-wire controlled plant;
generating a series of residual signals from a residual generator representing the difference between the received measurement signals from the steer-by-wire controlled plant and the estimated signals from residual generator;
providing a decision-making unit in the steer-by-wire fault detection unit based on the received residual signals from the residual generator and fault test rules; and
generating a fault decision signal to determine the fault occurrence in sensors, actuators, and the steer-by-wire controlled plant with other electro-mechanical components.
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Abstract
The present invention involves a system and method of model-based fault detection for a vehicle steer-by-wire system. The method includes providing a steer-by-wire fault detection unit to implement fault detection for the fault occurrence in sensors, actuators, and the controlled plant. The steer-by-wire fault detection unit is composed of a residual generator and decision-making unit. The residual generator generates a series of residual signal which are difference between the estimation signals based on a steer-by-wire controlled plant mathematical model and the actual measurement signals of steer-by-wire controlled plant. The decision making unit determines whether any faults have occurred by applying a fault test rule for residual signals. The fault detection for the steer-by-wire system includes the influence of system uncertainty and nonlinearity, A robust gain scheduling H∞ fault detector is implemented to generate residual signals to reduce the effect of system uncertainty and nonlinearity for the residual signals. Therefore, the fault detection system is robust with respect to the model uncertainty, external noise and dynamic gain change, and is sensitive to faults occurrence in the steer-by-wire controlled plant.
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Citations
21 Claims
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1. A method of model-based fault detection for a vehicle steer-by-wire system, the method comprising:
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providing a steer-by-wire controlled plant with electric motor actuators, sensors, and other electrical and mechanical components and assembly providing a steer-by-wire controller for the steer-by-wire controlled plant to implement a steer-by-wire closed-loop system control;
providing a steer-by-wire fault detection unit in electrical communication with steer-by-wire controlled plant and the steer-by-wire controller to detect faults of the steer-by-wire controlled plant;
receiving input and output signals from the steer-by-wire controlled plant and vehicle signals from the vehicle;
providing a residual generator in the steer-by-wire fault detection unit based on a mathematical model of steer-by-wire controlled plant without any fault in the controlled plant to implement an estimation for input signals, output signals, and states of the steer-by-wire controlled plant;
generating a series of residual signals from a residual generator representing the difference between the received measurement signals from the steer-by-wire controlled plant and the estimated signals from residual generator;
providing a decision-making unit in the steer-by-wire fault detection unit based on the received residual signals from the residual generator and fault test rules; and
generating a fault decision signal to determine the fault occurrence in sensors, actuators, and the steer-by-wire controlled plant with other electro-mechanical components. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A system of model-based fault detection for a vehicle steer-by-wire system, the system comprising:
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a steer-by-wire controlled plant with electric motor actuators, sensors, and other electrical and mechanical components and assembly;
a steer-by-wire controller for the steer-by-wire controlled plant to implement a steer-by-wire system feedback control;
a steer-by-wire fault detection unit in electrical communication with the steer-by-wire controlled plant and the steer-by-wire controller to detect faults of the steer-by-wire controlled plant, the fault detection unit being configured to receive input and output signals from the steer-by-wire controlled plant and vehicle signals from the vehicle;
a residual signal generator in the steer-by-wire fault detection unit based on a mathematical model of steer-by-wire controlled plant without any fault in the controlled plant; and
a decision-making unit in the steer-by-wire fault detection unit to examine residuals and to determine if any faults have occurred according to the a fault decision rule. - View Dependent Claims (20, 21)
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Specification