Active Fault-tolerant Control of EPS Considering Sensor and Actuator Fault

doi:10.3901/JME.2018.22.103

Abstract

Abstract: Aiming at the effects on assist performance of EPS caused by the sensor and actuator fault, an active fault-tolerant control is proposed. EPS model with parameter uncertainty, sensor and actuator fault is built, and the parameter uncertainty is transformed into the disturbance of the fault estimation error system. Sufficient condition, that for error dynamics system which is stable and robust against disturbance, is derived based on unknown input observer and linear matrix inequalities. LMI region pole assignment is used to improve the accuracy of fault estimation; based on fault estimation, control law compensation is designed for the actuator fault tolerance; signal reconstruction is designed for the sensor fault tolerance. Simulation in Matlab/Simulink shows that, when single or simultaneous sensor and actuator fault happens, the designed algorithm can estimate the amplitude of the fault accurately while the estimation error is small; in view of the assist performance deteriorate caused by various faults, the proposed fault-tolerant method can restore the assist characteristic of failure EPS system to some extent. Hardware-in-loop test based on LabVIEW PXI further validates the effectiveness of fault-tolerant control in EPS which improves the safety of steering driving and reliability of the vehicle.

Key words: control law compensation, electric power steering system, fault estimation, fault-tolerant control, sensor reconstruction

CLC Number:

U463

GAO Zhengang, CHEN Wuwei, TAN Dongkui, WANG Hongbo, YANG Liuqing. Active Fault-tolerant Control of EPS Considering Sensor and Actuator Fault[J]. Journal of Mechanical Engineering, 2018, 54(22): 103-113.

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