Abstract:

Aiming at the vehicle roll rate sensor fault, a new model based method was proposed, focusing on fault diagnosis and fault reconfiguration. Comparing with the traditional method, an exact proof is given, which gets the strong robust residual, and the high high-precision signal of the faulty sensor. The multi-input-multi-output nonlinear system, which fulfills the Lipchitz Condition, could be took place by a equivalent model which is a one-dimension linear state equation with a model uncertainty, in the sensor fault diagnosis problem. The residual generator is designed by the classical observer theory, and through the eigenstructure assignment theory,a proof is addressed that the model uncertainty, actuator fault and disturbance could be perfectly decoupled from residual. The effectiveness of the result in testified by the 8-dof model in Simulink.

Key words: fault diagnosis, fault reconfiguration, model-based, Lipchitz, sensor, eigenstructure assignment