사륜 독립구동 차량시스템의 제어입력 조정을 통한 결함진단

In this research, quantitative measurement of fault isolation is defined to evaluate fault isolate performance in parity equation. If it is hard or impossible to isolate fault components with parity equation, fault diagnosis method by adjustment of input distribution is applied to overcome the limitation of parity equation method. Noticeable characteristic in four wheels independently driven vehicle system is that there are lots of input distribution to achieve equivalent control performance. In normal case, controller makes optimal input distribution. But if there exist probability to have fault components, fault diagnosis system makes input perturbation and analyze system response to isolate fault components.