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 - Books - VDM Verlag Dr. Müller - 9783639106312 - December 1, 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.

Media Books     Paperback Book   (Book with soft cover and glued back)
Released December 1, 2008
ISBN13 9783639106312
Publishers VDM Verlag Dr. Müller
Pages 144
Dimensions 199 g
Language English