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Structural Analysis of a Vehicle Dynamics Model for Fault Detection and Isolation on the ROboMObil

Ho, Lok Man (2013) Structural Analysis of a Vehicle Dynamics Model for Fault Detection and Isolation on the ROboMObil. In: 2nd International Conference on Control and Fault-Tolerant Systems. 2nd International Conference on Control and Fault-Tolerant Systems, 9. - 11. Okt. 2013, Nizza, Frankreich.

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Abstract

The ROboMObil, a mobility prototype under development at the DLR, differs from most current road vehicles with its high degree of overactuation with regards to the vehicle dynamics. This is due to the independent traction motor drives and steering actuators in each wheel, as well as one brake-by-wire actuator for each axle. Together with the large number of sensors, these provide opportunities for control and also lead to challenges for fault detection and isolation. In this study, the ROboMObil is represented by the dual track vehicle dynamics model. Structural analysis methods are used to determine the Minimally Structurally Overdetermined Sets of constraints. Each of these can be used to check the consistency of the constraints which it contains. A minimal set of MSO sets is selected to achieve the maximal isolation for the faults of interest. The validity of this method is illustrated using a simulation and simple analytic redundancy relations for selected MSO sets.

Item URL in elib:https://elib.dlr.de/86730/
Document Type:Conference or Workshop Item (Speech)
Title:Structural Analysis of a Vehicle Dynamics Model for Fault Detection and Isolation on the ROboMObil
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ho, Lok ManLok.Ho (at) dlr.deUNSPECIFIED
Date:9 October 2013
Journal or Publication Title:2nd International Conference on Control and Fault-Tolerant Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:fault detection, fault isolation, structural analysis, vehicle dynamics, MSO sets
Event Title:2nd International Conference on Control and Fault-Tolerant Systems
Event Location:Nizza, Frankreich
Event Type:international Conference
Event Dates:9. - 11. Okt. 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ho, Lok Man
Deposited On:16 Dec 2013 10:15
Last Modified:31 Jul 2019 19:44

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