Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart: Remote Pilot and Sensor / Actuator Fault Diagnosis for Coaxial Two-wheeled Electric Vehicle - Jia-sheng Hu - Livros - VDM Verlag Dr. Müller - 9783639106312 - 1 de dezembro de 2008
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Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart: Remote Pilot and Sensor / Actuator Fault Diagnosis for Coaxial Two-wheeled Electric Vehicle

Jia-sheng Hu

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Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart: Remote Pilot and Sensor / Actuator Fault Diagnosis for Coaxial Two-wheeled Electric Vehicle

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.

Mídia Livros     Paperback Book   (Livro de capa flexível e brochura)
Lançado 1 de dezembro de 2008
ISBN13 9783639106312
Editoras VDM Verlag Dr. Müller
Páginas 144
Dimensões 199 g
Idioma English  

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