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Journal of Intelligent and Connected Vehicles 2021, 4(1): 1-15 https://doi.org/10.1108/JICV-08-2020-0007
Research paper | Open Access | Issue | Published: 28 December 2020

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

Show Author's Information Qinjie Yang1,  Guozhe Shen1,  Chao Liu1,  Zheng Wang2,  Kai Zheng3,  Rencheng Zheng4( )
School of Automotive Engineering, Dalian University of Technology, Dalian, China
Institute of Industrial Science, The University of Tokyo, Tokyo, Japan
Marine Electrical Engineering College, Dalian Maritime University, Dalian, China
Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
Keywords:
Active fault-tolerant control, Fault estimation, Sensors failure, Steer-by-wire
Cite this article:
Yang Q, Shen G, Liu C, et al. Active fault-tolerant control of rotation angle sensor in steer-by-wire system based on multi-objective constraint fault estimator. Journal of Intelligent and Connected Vehicles, 2021, 4(1): 1-15. https://doi.org/10.1108/JICV-08-2020-0007
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Abstract Full text About this article
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 subsequent hardware in the loop test is needed for further verification.

Originality/value

Aiming at the SBW system with parameter perturbation and sensors failure, this paper proposes an active fault-tolerant control framework, which integrates fault observer, fault estimator and fault reconstructor so that the steering performance of SBW system with sensors faults is basically consistent with that of the fault-free SBW system.


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Abstract
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About this article

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

Show Author's information Qinjie Yang1, Guozhe Shen1, Chao Liu1, Zheng Wang2, Kai Zheng3, Rencheng Zheng4( )
School of Automotive Engineering, Dalian University of Technology, Dalian, China
Institute of Industrial Science, The University of Tokyo, Tokyo, Japan
Marine Electrical Engineering College, Dalian Maritime University, Dalian, China
Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China

Abstract

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 subsequent hardware in the loop test is needed for further verification.

Originality/value

Aiming at the SBW system with parameter perturbation and sensors failure, this paper proposes an active fault-tolerant control framework, which integrates fault observer, fault estimator and fault reconstructor so that the steering performance of SBW system with sensors faults is basically consistent with that of the fault-free SBW system.

Keywords: Active fault-tolerant control, Fault estimation, Sensors failure, Steer-by-wire

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Publication history
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Publication history

Received: 03 August 2020
Revised: 26 October 2020
Accepted: 07 November 2020
Published: 28 December 2020
Issue date: April 2021

Copyright

© 2021 Qinjie Yang, Guozhe Shen, Chao Liu, Zheng Wang, Kai Zheng and Rencheng Zheng. Published in Journal of Intelligent and Connected Vehicles. Published by Emerald Publishing Limited.

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