Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator  

作　　者：Qinjie Yang Guozhe Shen Chao Liu Zheng Wang Kai Zheng Rencheng Zheng 

机构地区：[1]School of Automotive Engineering,Dalian University of Technology,Dalian,China [2]Institute of Industrial Science,The University of Tokyo,Tokyo,Japan [3]Marine Electrical Engineering College,Dalian Maritime University,Dalian,China [4]Key Laboratory of Mechanism Theory and Equipment Design,Ministry of Education,Tianjin University,Tianjin,China

出　　处：《Journal of Intelligent and Connected Vehicles》2021年第1期1-15,共15页智能网联汽车（英文）

基　　金：supported in part by the State Key Laboratory of Automotive Safety and Energy under Project No.KF1815;the National Natural Science Foundation of China(No.52071047 andNo.51975089).

摘　　要：Purpose–Steer-by-wire(SBW)system mainly relies on sensors,controllers and motors to replace the traditionally mechanical transmission mechanism to realize steering functions.However,the sensors in the SBW system are particularly vulnerable to external influences,which can cause systemic faults,leading to poor steering performance and even system instability.Therefore,this paper aims to adopt a fault-tolerant control method to solve the safety problem of the SBW system caused by sensors failure.Design/methodology/approach–This paper proposes an active fault-tolerant control framework to deal with sensors failure in the SBW system by hierarchically introducing fault observer,fault estimator,fault reconstructor.Firstly,the fault observer is used to obtain the observation output of the SBW system and then obtain the residual between the observation output and the SBW system output.And then judge whether the SBW system fails according to the residual.Secondly,dependent on the residual obtained by the fault observer,a fault estimator is designed using bounded real lemma and regional pole configuration to estimate the amplitude and time-varying characteristics of the faulty sensor.Eventually,a fault reconstructor is designed based on the estimation value of sensors fault obtained by the fault estimator and SBW system output to tolerate the faulty sensor.Findings–The numerical analysis shows that the fault observer can be rapidly activated to detect the fault while the sensors fault occurs.Moreover,the estimation accuracy of the fault estimator can reach to 98%,and the fault reconstructor can make the faulty SBW system to retain the steering characteristics,comparing to those of the fault-free SBW system.In addition,it was verified for the feasibility and effectiveness of the proposed control framework.Research limitations/implications–As the SBW fault diagnosis and fault-tolerant control in this paper only carry out numerical simulation research on sensors faults in matrix and laboratory/Simulink,the subseque

关 键 词：Active fault-tolerant control Fault estimation Sensors failure STEER-BY-WIRE 

分 类 号：TM4[电气工程—电器]