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Fault-Tolerant Control of an Electrohydraulic Brake Using Virtual Pressure Sensor

Ho, Lok Man and Satzger, Clemens and de Castro, Ricardo (2017) Fault-Tolerant Control of an Electrohydraulic Brake Using Virtual Pressure Sensor. International Conference on Robotics and Automation Sciences, 26.-29. Aug. 2017, Hong Kong, China.

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Abstract

An approach for fault tolerant control of an electrohydraulic brake (EHB) in case of a pressure sensor failure is presented. Automotive Brake-by-Wire actuators are safety critical components, and an EHB under closed-loop pressure control is critically affected by faults in the pressure sensor. Timely fault detection and reconfiguration to use a brake pressure estimate based on motor position enhances the reliability of the system. Since the relationship between position and pressure can vary over a system’s lifetime due to wear and changes in brake system characteristics, it is necessary to adapt this relationship online using operating data. This paper presents the means to perform this update using a least squares estimation routine, adapted to account for persistence of excitation and data storage limitations. Model-based fault detection functions are also presented. The proposed fault-tolerant control approach is implemented and validated on an EHB test bench with promising results.

Item URL in elib:https://elib.dlr.de/113911/
Document Type:Conference or Workshop Item (Speech)
Title:Fault-Tolerant Control of an Electrohydraulic Brake Using Virtual Pressure Sensor
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ho, Lok Manlok.ho (at) dlr.dehttps://orcid.org/0000-0002-9023-2520
Satzger, Clemensclemens.satzger (at) dlr.dehttps://orcid.org/0000-0002-0714-3675
de Castro, Ricardoricardo.decastro (at) dlr.dehttps://orcid.org/0000-0002-5546-3999
Date:26 August 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:brake-by-wire; electrohydraulic brake; fault detection; fault-tolerant control; reconfiguration; virtual sensor
Event Title:International Conference on Robotics and Automation Sciences
Event Location:Hong Kong, China
Event Type:international Conference
Event Dates:26.-29. Aug. 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ho, Lok Man
Deposited On:21 Sep 2017 16:49
Last Modified:17 Jul 2019 11:18

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