Active fault tolerant control of electric power steering system with sensor fault

Gao, Zhengang; Yang, Liuqing; Wang, Hongbo; Li, Xiaoxue

doi:10.23919/chicc.2017.8028892

Cited by 7 publications

(4 citation statements)

References 1 publication

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“…This new technology completely gets rid of the limitations of the traditional steering system by brings many significant benefits, such as setting a variable transmission ratio to reduce the driving burden, increasing the safety of the collision and improving vehicle stability and mobility (Mi et al , 2018). The SBW system usually uses the measurement output of the sensors as a feedback signal to control vehicle gestures, but the sensors are vulnerable to unexpected changes in external surroundings, resulting in stuck, gain, deviation and signal interruption (Gao et al , 2017). This will cause the SBW controller to generate wrong control commands, so the performance of the attitude control system will be degraded and the steering system will be unstable resulting in driving safety problems.…”

Section: Introductionmentioning

confidence: 99%

Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator

Yang

Shen

Liu

et al. 2020

JICV

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Purpose Steer-by-wire (SBW) system mainly relies on sensors, controllers and motors to replace the traditionally mechanical transmission mechanism to realize steering functions. However, the sensors in the SBW system are particularly vulnerable to external influences, which can cause systemic faults, leading to poor steering performance and even system instability. Therefore, this paper aims to adopt a fault-tolerant control method to solve the safety problem of the SBW system caused by sensors failure. Design/methodology/approach This paper proposes an active fault-tolerant control framework to deal with sensors failure in the SBW system by hierarchically introducing fault observer, fault estimator, fault reconstructor. Firstly, the fault observer is used to obtain the observation output of the SBW system and then obtain the residual between the observation output and the SBW system output. And then judge whether the SBW system fails according to the residual. Secondly, dependent on the residual obtained by the fault observer, a fault estimator is designed using bounded real lemma and regional pole configuration to estimate the amplitude and time-varying characteristics of the faulty sensor. Eventually, a fault reconstructor is designed based on the estimation value of sensors fault obtained by the fault estimator and SBW system output to tolerate the faulty sensor. Findings The numerical analysis shows that the fault observer can be rapidly activated to detect the fault while the sensors fault occurs. Moreover, the estimation accuracy of the fault estimator can reach to 98%, and the fault reconstructor can make the faulty SBW system to retain the steering characteristics, comparing to those of the fault-free SBW system. In addition, it was verified for the feasibility and effectiveness of the proposed control framework. Research limitations/implications As the SBW fault diagnosis and fault-tolerant control in this paper only carry out numerical simulation research on sensors faults in matrix and laboratory/Simulink, the subsequent hardware in the loop test is needed for further verification. Originality/value Aiming at the SBW system with parameter perturbation and sensors failure, this paper proposes an active fault-tolerant control framework, which integrates fault observer, fault estimator and fault reconstructor so that the steering performance of SBW system with sensors faults is basically consistent with that of the fault-free SBW system.

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Section: Introductionmentioning

confidence: 99%

Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator

Yang

Shen

Liu

et al. 2020

JICV

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“…[5][6][7] Within this same scope, several work using FTC can be cited. [8][9][10][11][12] The robust sensor fault estimation of the motor current is established based on HN performance index. The sensor reconstruction is then used as the input of the EPS system controller to design the FTC.…”

Section: Introductionmentioning

confidence: 99%

“…The sensor reconstruction is then used as the input of the EPS system controller to design the FTC. According to Gao et al, 12 the advantage of such designed algorithm is to estimate sensor faults accurately.…”

Section: Introductionmentioning

confidence: 99%

Fast fault-tolerant control of electric power steering systems in the presence of actuator fault

Allous

Mrabet

Zanzouri³

2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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Electric power steering is an advanced steering system that uses an electric motor to improve steering comfort of the car. As a result, the failures in the electric motor can lead to additional fault modes and cause damage of the electric power steering system performance. Hence, to ensure the stability of this latter, the present paper proposes a new method to reconfigure the fault control. A novelty approach of fast fault estimation based on adaptive observer is also proposed. Moreover, to guarantee optimal and fast control, a fault-tolerant control based on inverse bond graph modeling is designed to construct the behavior of the nominal system. The simulation and the experimental results on a real electric power steering system reveal the importance of the control strategy and show that the proposed approach works as intended.

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“…The experimental results demonstrated that the proposed loop-shaping controller provides good tracking performance while ensuring the stability of the EPS system.Algorithms 2019, 12, 57 2 of 28 technique to control the steering-column torque, which is measured by the torque sensor and reference torque tracking neglecting the estimation of the EPS parameters. Gao [14] proposed a fault-tolerant control strategy based on fault estimation and reconstruction. Ma [15] proposed an active disturbance rejection approach for the EPS system, which can significantly reduce steering wheel vibration torque.…”

mentioning

confidence: 99%

Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System

et al. 2019

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This paper presents a parameter estimation, robust controller design and performance analysis for an electric power steering (EPS) system. The parametrical analysis includes the EPS parameters and disturbances, such as the assist motor parameters, sensor-measurement noise, and random road factors, allowing the EPS stability to be extensively investigated. Based on the loop-shaping technique, the system controller is designed to increase the EPS stability and performance. The loop-shaping procedure is proposed to minimize the influence of system disturbances on the system outputs. The simplified refined instrumental variable (SRIV) algorithm, least squares state variable filter (LSSVF) algorithm and instrumental variable state variable filter (IVSVF) algorithm are applied to reduce the model mismatching between the theoretical EPS models and the real EPS model, as the EPS parameters can be accurately identified based on the experimental EPS data. The performance of the proposed method is thus compared to that of the proportional-integral-derivative (PID) test bench results for the EPS system. The experimental results demonstrated that the proposed loop-shaping controller provides good tracking performance while ensuring the stability of the EPS system.

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Active fault tolerant control of electric power steering system with sensor fault

Cited by 7 publications

References 1 publication

Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator

Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator

Fast fault-tolerant control of electric power steering systems in the presence of actuator fault

Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System

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