A novel fault detection and identification (FDI) scheme based on sliding mode observer (SMO) residual generator and state machine residual evaluator is presented in this paper. The FDI scheme is applied to actuator and sensor faults in a vehicle chassis steering system described by a nonlinear bicycle model with three degrees of freedom. Primary residual is generated by an expanded SMO designed for linear time varying (LTV) systems. To cope with the multiple faults isolation problem, the state machine records and utilizes the previous fault information to determine the current fault state. Simulation results show that multiple fault detection and isolation can be successfully achieved by the proposed SMO and state-machine-based FDI scheme.

Issue Section:
Research Papers
Topics:
Design, Generators, Machinery, Vehicles, Sensors, Simulation, Actuators, Steering systems, Simulation results, Fault diagnosis

References

1.
Isermann
,
R.
,
2001
, “
Diagnosis Methods for Electronic Controlled Vehicles
,”
Veh. Syst. Dyn.
,
36
(
2–3
), pp.
77
–
117
.10.1076/vesd.36.2.77.3554
Google Scholar
Crossref
Search ADS
 
2.
Pisu
,
P.
,
Rizzoni
,
G.
,
Soliman
,
A.
,
Amberkar
,
S.
,
Murray
,
B.
, and
Jalics
,
L.
,
2000
, “
Model Based Diagnostics for Vehicle Systems
,”
ASME International Mechanical Engineering Congress & Exposition
, Orlando, FL.
3.
Fennel
,
H.
, and
Ding
,
E. L.
,
2000
, “
A Model-Based Failsafe System for the Continental TEVES Electronic-Stability-Program (ESP)
,”
2000-01-1635, SAE Automotive Dynamics & Stability Conference
, Troy, MI.
4.
Fischer
,
D.
,
Borner
,
M.
,
Schmitt
,
J.
, and
Isermann
,
R.
,
2007
, “
Fault Detection for Lateral and Vertical Vehicle Dynamics
,”
Control Eng. Pract.
,
15
, pp.
315
–
324
.10.1016/j.conengprac.2006.05.007
Google Scholar
Crossref
Search ADS
 
5.
Rehm
,
A.
, and
Otterbein
,
S.
,
2005
, “
A Unified Approach Towards Fault Detection of Vehicle Lateral Dynamics Sensors
,”
Proceedings of the 16th IFAC World Congress
, July, pp.
4
–
8
.
6.
Zhang
,
X.
, and
Pisu
,
P.
,
2009
, “
Model-Based Fault Diagnosis for a Vehicle Chassis System
,”
American Control Conference (ACC-09)
, pp.
1116
–
1121
.
7.
Unger
,
I.
, and
Isermann
,
R.
,
2006
, “
Sensor Fault Diagnosis for Lateral Vehicle Dynamics With Varying Road Surface Conditions
,” 4th IFAC Symposium on Mechatronic Systems, Mechatronic Systems, Vol. 4, pp.
502
–
507
.
8.
Pisu
,
P.
,
Serrani
,
A.
, and
You
,
S.
,
2006
, “
Adaptive Threshold Based Diagnostics for Steer-by-Wire Systems
,”
Trans. ASME J. Dyn. Syst., Meas. Control
,
128
(
2
), pp.
428
–
435
.10.1115/1.2199859
Google Scholar
Crossref
Search ADS
 
9.
Pisu
,
P.
,
2010
, Hierarchical Model-Based Diagnostics: Theoretical Results and Applications to Vehicle Systems, VDM Verlag Dr. Müller, Saarbrücken, Germany.
10.
Gillespie
,
T. D.
,
1992
,
Fundamentals of Vehicle Dynamics
,
Society of Automotive Engineers, Inc.
, Warrendale, PA.
11.
Wong
,
J. Y.
,
1993
,
Theory of Ground Vehicles
,
John Wiley & Sons, Inc.
, Hoboken, NJ.
12.
Pacejka
,
H. B.
, and
Bakker
,
E.
,
1993
, “
Magic Formula Tyre Model
,”
Veh. Syst. Dyn. Int. J. Veh. Mech. Mobility
,
21
(Suppl. 1), pp.
1
–
18
.10.1080/00423119208969994
13.
Utkin
,
V.
,
1999
,
Sliding Mode Control in Electromechanical Systems
,
Taylor & Francis
, Philadelphia, PA.
14.
Blanke
,
M.
,
Kinnaert
,
M.
, and
Lunze
,
J.
,
2003
,
Diagnosis and Fault-Tolerant Control
,
Springer-Verlag
,
Berlin
.
15.
Cassandras
,
C. G.
, and
Lafortune
,
S.
,
2008
,
Introduction to Discrete Event Systems
, 2nd ed.,
Springer
,
New York
.
16.
Zhang
,
X.
, and
Pisu
,
P.
,
2010
, “
State Machine-Based Fault Diagnosis With Application in a Vehicle Chassis System
,”
2010 American Control Conference (ACC-10)
, pp.
6139
–
6144
.
17.
Haskara
,
I.
,
1999
, “
Sliding Mode Estimation and Optimization Methods in Nonlinear Control Problems
,” Ph.D. thesis, Ohio State University, Columbus, OH.
Copyright © 2014 by ASME
You do not currently have access to this content.