| DEGREE OF FAULT ISOLABILITY AND ACTIVE FAULT DIAGNOSIS FOR REDUNDANTLY ACTUATED VEHICLE SYSTEM |
| S. PARK1, Y. PARK2, Y. S. PARK2 |
1DTaQ
2KAIST |
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| ABSTRACT |
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This paper proposes ? degree of fault isolability concept and active fault diagnosis method for redundantly actuated vehicle systems. Fault isolability is a structural property related to system dynamics and composition of actuators and sensors. Existing research on testing fault isolability has involved checking whether the system is isolable, i.e., binary in nature. A continuous value rather than a binary metric is needed to evaluate how isolable a given system fault is based on a specific measurement set. After fault components are isolated, the fault type and magnitude are estimated by analyzing residual vectors. In a redundantly actuated system, the number of controls/actuators is greater than the system mobility. Thus, the control input distribution to achieve a given control objective is not unique. In the case of a fault, the active fault diagnosis system adjusts the control input distribution to diagnose the fault. Thus, much more system information can be identified by additional excitation through a redundantly actuated system, which improves the fault diagnosis performance. Simulation results of a four-wheel independently driven and steered vehicle model validated the proposed degree of fault isolability and the effectiveness of the proposed active fault diagnosis method. |
| Key Words:
Degree of fault isolability, Active fault diagnosis, Redundantly actuated vehicle system |
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