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Fault tolerant mechatronic actuator systems with realisation of an electrical duplex power steering

采用电动双动力转向系统的容错机电执行器系统

基本信息

批准号：
213635183
负责人：
Professor Dr.-Ing. Rolf Isermann
金额：
--
依托单位：
Forschungsgruppe Regelungstechnik und Prozessautomatisierung (rtp)
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2012
资助国家：
德国
起止时间：
2011-12-31 至 2016-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/213635183?language=en
关键词：
Fault tolerant mechatronic actuator systems

项目摘要

The general interest on duplex actuators for safety critical systems is for instance in the automotive sector increased since initial request. The tasks of the initial request and the results of our research are basically important for fault-tolerant actuator systems. The not clarified tasks and the new developed questions are described below.The accuracy of the developed actuator models should be further increased. Therefore the motor model should be extended by a semi-physical modeling. With this approach nonlinear effects like hysteresis could be handled better. This is particularly important for fault diagnosis.The residuals, which are the result of a structure analysis of the models, must be validated at the existing test benches. Depending on the validation results, an extended fault modeling will be done.An approach for handling actuator faults was developed. The robustness of the used coupling control should be improved by a semi-physical modeling. The coupling control will be extended to a gain-scheduling controller.Especially at a total breakdown of one actuator, the choice of the right switching strategy is important. The impact of a hard or soft switching highly depends on the situation. The existing duplex-EPS test bench should be extended by actuators for generating steering force reactions. This allows an active load simulation and the test bench can operate in closed loop. Driving situational switching strategies can be researched. An integration of a vehicle simulation at the real-time target is intended.In order to get a good adaptability of the chosen controller at a fault the internal model control (IMC) was analyzed. Because of the internal model in the controller the control structure can be adapted easily by parameter adaption. A speed and a positioning control loop should be implemented with the IMC structure. Additionally several parameter estimation techniques for the adaption of the IMC should be investigated at the test bench.Faults of sensors can be easily followed by wrong actuating values. To minimize the impact of faulty current and rotor position sensors virtual measurement signals should be generated.Finally, the integration of all methods in a fault management system should be analyzed and synergies of the methods should be used in order to reduce the computing demand.

例如，自首次提出要求以来，汽车行业对安全关键系统的双致动器的普遍兴趣有所增加。本文的研究工作对容错作动器系统的研究具有重要意义。未阐明的任务和新开发的问题如下所述。所开发的致动器模型的精度应进一步提高。因此，电机模型应扩展为半物理模型。通过这种方法，可以更好地处理滞后等非线性效应。残差是模型结构分析的结果，必须在现有的试验台上进行验证。在此基础上，提出了一种执行器故障处理方法。所用耦合控制的鲁棒性应通过半物理建模来提高。将耦合控制扩展为增益调度控制器，特别是在一个执行器完全故障时，选择正确的切换策略是很重要的。硬切换或软切换的影响在很大程度上取决于情况。现有的EAS-EPS试验台应通过执行器进行扩展，以产生转向力反作用力。这允许主动负载模拟，并且测试台可以在闭环中操作。可以研究驾驶情境切换策略。为了使控制器在故障时具有良好的自适应性，对内模控制进行了分析。由于在控制器中的内部模型，控制结构可以很容易地通过参数自适应。速度和位置控制回路应该用IMC结构实现。此外，还应在试验台上研究用于内模控制自适应的几种参数估计技术。传感器故障很容易导致错误的驱动值。为了最大限度地减少故障电流和转子位置传感器的影响，应产生虚拟测量信号。最后，应分析故障管理系统中各种方法的集成性，并应使用各种方法的协同作用，以减少计算需求。