Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart: Remote pilot and sensor/actuator fault diagnosis for coaxial two-wheeled electric vehicle - Couverture souple

Hu, Jia-Sheng

Couverture souple

ISBN 10 : 3639106318 ISBN 13 : 9783639106312

Editeur : VDM Verlag Dr. Müller, 2008

Synopsis

In this book, we present a pilot control algorithm, which converts two joysticks¿ commands into two torque directives for movement. This technique allows the user to operate the ABTWC linearly for both motion and orientation control via a joystick. Since a human being is involved in the operation of an ABTWC, the rider faces the danger of being injured in a fall if any system failure occurs. Therefore, the rider should be warned immediately when any system failure develops, ensuring that proper action can be taken to avoid a dangerous accident. A model-based fault-detection filter is designed to detect sensor faults. This book employs a PI observer to detect abnormal information in an ABTWC caused by actuator faults and steering load- torques. In order to promptly alert the rider for safety purposes in the event of a malfunction, the decision-making process to identify a critical failure is investigated. A statistical threshold that has the benefits of improving decision-making reliability is investigated for diagnosing a possible abnormal operation and/or a serious system malfunction.

Détails de l'édition

• Éditeur: VDM Verlag Dr. Müller
• Date d'édition: 2008
• Langue: anglais
• ISBN 10: 3639106318
• ISBN 13: 9783639106312
• Reliure: Broché
• Nombre de pages: 144
• Coordonnées du fabricant: non disponible
• Personne responsable: non disponible