Analysis of model-based sensor fault diagnosis with application to a motor-driven power steering system

Abstract

This paper presents a theoretical analysis of model-based fault detection and isolation (FDI) and its application to a motor-driven power steering (MDPS) system. In particular, this paper proposes a systematic approach to determining fault detectability and isolability of a linear time-invariant system based on a parity equation. The proposed approach is applied to the MDPS system in order to examine the fault detectability and isolability of the MDPS depending on the number and type of sensors and disturbances. Fault detection and isolation of the phase current sensors and the angular velocity sensor are conducted using a parity equation derived from the mathematical model of the permanent magnet alternating current (PMAC) motor. The fault of the steering torque sensor is detected and isolated by cross-checking with two different torque estimates. An adaptive threshold is proposed to improve the performance and robustness of the proposed FDI method against time-varying model uncertainties. Simulation and vehicle test results show the validity and performance of the proposed FDI method for the MDPS system.

Fault-type identification and fault estimation of the active steering system of an electric vehicle in normal driving conditions

“…Since e 1 and e 2 are bounded,h andũ are also bounded according to the work by Brockett, 29 which leads to the conclusion thatx is bounded. Thus, the convergence of the observer for system (19) and the bounded estimation error for system (22) are proved.…”

“…However, very few studies have been made on the identification of fault types and the estimation of faults in the steering system of a vehicle, even though many efforts have been devoted to fault estimation theory [10][11][12][13][14][15] for fault detection in the steering system of a vehicle [16][17][18][19] and in other systems of a vehicle. [20][21][22][23] The contributions of this paper lie in the following aspects. First, this paper designs a methodology to identify the fault type and to estimate the magnitude of a steering motor fault in an EGV.…”

Model-Based Fault Diagnosis of an Anti-Lock Braking System via Structural Analysis

“…With respect to the model-based approaches, the parity equations [4] and observers [5] are commonly used for their good adaption to both linear and non-linear systems. For example, parity relation based fault diagnosis are applied in automotive engines [6,7], the suspension system [8], and the motor-driven power steering system [9]. Literatures about fault diagnosis via observers [10] can be found used in vehicle lateral and yaw dynamics control systems [11,12], unmanned aerial vehicles [13,14], permanent-magnet synchronous motor (PMSM) [15,16], and lithium-ion battery pack in electric vehicles [17].…”

Experimental Study on Antivibration Control of Electrical Power Steering Systems

“…Controller design work for soft-disability remedy of the electric power steering system can be seen in [17]. Other works on this topic can be seen in [18][19][20][21][22][23][24]. However, in the literature, most of the results on the assistant strategy were obtained only by the simulation, which may be quite different from the real system.…”