This paper presents a fault diagnosis approach for a class of over-actuated systems where the actuators share the same unknown parameters. With the persistence of excitation condition being satisfied, the estimated unknown parameters from all the healthy and identical actuators should have a great similarity. A significant parameter estimation difference from other estimations may be attributed to the fault on the specific actuator. Such a feature was utilized to design the residuals and evaluate the actuator fault for over-actuated systems with identical actuators and applied to a four wheel independently actuated (FWIA) electric ground vehicle where the tire-road friction coefficient (TRFC) can be treated as the common unknown parameter for the four wheels. Simulation and experimental results from a FWIA electric ground vehicle are given to show the effectiveness of the proposed fault diagnosis method.
- Dynamic Systems and Control Division
Fault Diagnosis Method Utilizing Actuator Redundancy and Identicalness With Applications to Electric Vehicles
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Wang, R, & Wang, J. "Fault Diagnosis Method Utilizing Actuator Redundancy and Identicalness With Applications to Electric Vehicles." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 111-118. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8531
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