Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Fault Detection and Diagnosis of CAN-Based Distributed Systems for Longitudinal Control of All-Terrain Vehicle(ATV)

무인 ATV의 종 방향 제어를 위한 CAN 기반 분산형 시스템의 고장감지 및 진단

  • Published : 2008.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

Keywords

References

  1. J. Yi, L. Alvarez, A. Howell, R. Horowitz, and J. K. Hedrick, 'A fault management system for longitudinal vehicle control in AHS,' Proc. of the ACC, pp. 1514-1518, 2000
  2. C. Fantuzzi, C. Secchi, and A. Visioli, 'On the fault detection and isolation of industrial robot manipulators,' In Proc. IFAC Symposium on Fault Detection, Supervision and Safety for Technological Processes, Washington, 2003
  3. V. Hasu and H. Koivo, 'Wheather sensor fault detection with time-dependent recursive thresholds,' Proc. of the first ICICIC, 2006
  4. Y. Zhang and X. R. Li, 'Detection and diagnosis of aircraft sensor and actuator failure,' IEEE Trans. on Aerospace and Electronic Systems, vol. 34, no. 4, pp. 1302-1312, 10, 1998
  5. R. Isermann, Fault-Diagnosis Systems, Springer, Berlin 2006
  6. R. Isermman, 'Model-based fault detection and diagnosis methods,' Proc. of the ACC, pp. 1605-1609, Seattle, Washington, 6, 1995
  7. J. J. Gertler, 'Survey of model-based failure detection and isolation in complex plants,' IEEE Control Systems Magazine, pp. 3-11, 11, 1998
  8. H. El Brouji, P. Poure, and S. Saadate, 'A fast and reliable fault diagnosis method for fault tolerant shunt three phase active filter,' IEEE ISIE, Montreal, Canada, 7, 2006
  9. E. Y. Chow and A. S. Willsky, 'Analytical redundancy and the design of robust failure detection systems,' IEEE Trans. on Automatic Contol, vol. AC-29, no. 7, pp. 603-614, 1984
  10. S. X. Ding, P. Zhang, and P. M. Frank, 'Threshold calculation using LMI-technique and its integration in the design of fault detection systems,' Proc. of IEEE Conference on Decision and Control, Maui, Hawaii, USA, 12, 2003
  11. X. Fang, J. Gertker, M. Kunwer, J. Heron, and T. Barkana, 'A double-threshold-testing robust method for fault detection & isolation in dynamic systems,' Proc. of the ACC, Baltimore, Maryland, pp. 1979-1983, 1994
  12. O. Moseler and R. Isermann, 'Application of model-based fault detection to a brushless DC motor,' IEEE Trans. on Industrial Electronics, vol. 47, no. 5, pp. 1015-1020, Dec., 2000 https://doi.org/10.1109/41.873209
  13. N. Kim, 'Rotor fault detection system for inverter driven induction motors using current signals and an encoder,' Journal of Power Electronics, vol. 7, no. 4, pp. 870-881,10, 2007
  14. T. Pfeuer, 'Application of model-based fault detection and diagnosis to the quality assurance of an automotive actuator,' Control Engeering Practice-CEP, vol 5, no. 5, pp. 703-708, 1997 https://doi.org/10.1016/S0967-0661(97)00052-X
  15. E. L. Ding, H. Fennel, and S. X. Ding 'Model-based diagnosis of sensor faults for ESP systems,' Control Engineering Practice, pp. 847-856, 12, 2004 https://doi.org/10.1016/j.conengprac.2003.10.009
  16. 이인수, 전기준, '선형시스템의 모델기반 고장감지와 분류,' 전자공학회 논문지, 제 35 권, S편, 제 1 호, pp. 68-79, 1, 1998
  17. B. Song and J. K. Hedrick, 'Fault tolerant nonlinear control with applications to an automated transit bus,' Vehicle System Dynamics, vol. 43, no. 5, pp. 331-350, 2005 https://doi.org/10.1080/00423110412331282922
  18. R. Rajamani, A. S. Howell, C. Chen, J. K. Hedrick, and M. Tomizuka 'A complete diagnostic system for automated vehicles operating in a platoon,' IEEE Trans. on Control Systems Technology, vol. 9, no. 4, pp. 553-564, 2007 https://doi.org/10.1109/87.930966
  19. H. Song, S. Kim, W. Baek, B. Song, and S.-K. Hong, 'Dynamic modeling and longitudinal control for autonomous All-Terrain Vehicle(ATV),' Control, Automation, and Systems Symposium, pp. 14-19, 2007
  20. B. Song, J. K. Hedrick, and A. Howell, 'Robust stabilization and ultimate boundedness of dynamic surface control systems via convex optimization,' Int. J. Control, vol. 75, no. 12, pp. 870-881, 2002 https://doi.org/10.1080/00207170210140843