Optimal fault-detection filter design for steer -by -wire vehicles

Steer-by-wire technology promises to deliver numerous benets, both to auto manufacturers and end customers, making cars that are safer, more ecient, easier to design and manufacture, and more fun to drive. One of the most compelling aspects of steer-by-wire is the potential to improve the safety of vehicles. While the nominal role of a steering system is to reproduce the driver’s steering command at the road wheels, a steer-by-wire system provides the opportunity for a software layer to intervene on behalf of the driver in dangerous driving situations. The simplest example of this is a car that could automatically counter-steer when starting to skid on wet or icy pavement, in order to prevent loss of control of the vehicle. In the case of higher-center of gravity vehicles, such as passenger vans and SUVs, where vehicle rollover becomes a significant safety issue, a steer-by-wire system could prevent the driver from executing a maneuver that would result in rollover. Despite all of the benefits of steer-by-wire, there are no production vehicles with steer-by-wire on the road today. The potentially catastrophic nature of a steering system failure requires that any replacement for a conventional steering system be extremely reliable. One approach for achieving the necessary level of reliability relies upon a diagnostic system that can quickly and accurately detect and isolate a fault. This information is then used to switch over to a redundant component or a modified control law that can accommodate the fault. This strategy significantly relaxes the reliability requirements of the individual components in the system, without reducing the overall reliability of the system. The research presented here demonstrates how a model-based diagnostic system can detect a wide range of potential steering system failures without the need for

[1]  Rolf Isermann,et al.  Application of model-based fault detection to a brushless DC motor , 2000, IEEE Trans. Ind. Electron..

[2]  James Lam,et al.  An LMI approach to design robust fault detection filter for uncertain LTI systems , 2003, Autom..

[3]  Matthew L. Tyler,et al.  Optimal and robust design of integrated control and diagnostic modules , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[4]  Jae-Bok Song,et al.  Control logic for an electric power steering system using assist motor , 2002 .

[5]  William Leithead,et al.  Control of Sideslip and Yaw Rate in Cars Equipped with 4-Wheel Steer-by-Wire , 2004 .

[6]  Harold Lee Jones,et al.  Failure detection in linear systems , 1973 .

[7]  P. Frank,et al.  Survey of robust residual generation and evaluation methods in observer-based fault detection systems , 1997 .

[8]  R. Isermann,et al.  Fault detection based on adaptive parity equations and single-parameter tracking , 1996 .

[9]  A. Modjtahedzadeh,et al.  A control theoretic model of driver steering behavior , 1990, IEEE Control Systems Magazine.

[10]  Henrik Niemann,et al.  Norm based design of fault detectors , 1999 .

[11]  Igor Skrjanc,et al.  Fault detection for nonlinear systems with uncertain parameters based on the interval fuzzy model , 2007, Eng. Appl. Artif. Intell..

[12]  J. Christian Gerdes,et al.  MULTI-MODAL DIAGNOSTICS FOR VEHICLE FAULT DETECTION , 2001 .

[13]  Ronald A. Hess,et al.  A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities , 1993 .

[14]  C.E. Shannon,et al.  Communication in the Presence of Noise , 1949, Proceedings of the IRE.

[15]  J. C. Gerdes,et al.  A probabilistic approach to residual processing for vehicle fault detection , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[16]  Rolf Isermann,et al.  Trends in the Application of Model Based Fault Detection and Diagnosis of Technical Processes , 1996 .

[17]  Jie Chen,et al.  Fault diagnosis in nonlinear dynamic systems via neural networks , 1994 .

[18]  J. C. Gerdes,et al.  Modification of vehicle handling characteristics via steer-by-wire , 2003, Proceedings of the 2003 American Control Conference, 2003..

[19]  Kee-Sang Lee,et al.  Actuator fault estimation with disturbance decoupling , 2000 .

[20]  Rolf Isermann,et al.  Fault diagnosis of machines via parameter estimation and knowledge processing - Tutorial paper , 1991, Autom..

[21]  Alan S. Willsky,et al.  A survey of design methods for failure detection in dynamic systems , 1976, Autom..

[22]  Pierluigi Pisu,et al.  Adaptive Threshold Based Diagnostics for Steer-By-Wire Systems , 2006 .

[23]  Chan-Won Seo,et al.  Active steering Control Based on The Estimated Tire Forces , 2000 .

[24]  Nagarajan Kandasamy,et al.  Time-constrained failure diagnosis in distributed embedded systems: application to actuator diagnosis , 2005, IEEE Transactions on Parallel and Distributed Systems.

[25]  Rolf Isermann,et al.  Process fault detection based on modeling and estimation methods - A survey , 1984, Autom..

[26]  Marios M. Polycarpou,et al.  A robust detection and isolation scheme for abrupt and incipient faults in nonlinear systems , 2002, IEEE Trans. Autom. Control..

[27]  Rolf Isermann,et al.  Diagnosis Methods for Electronic Controlled Vehicles , 2001 .

[28]  U Kramer,et al.  A model of driver behaviour. , 1982, Ergonomics.

[29]  J. C. Gerdes,et al.  STEER-BY-WIRE SUSPENSION AND STEERING DESIGN FOR CONTROLLABILITY AND OBSERVABILITY , 2005 .