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

Hu, Jia-Sheng

Softcover

ISBN 10: 3639106318 ISBN 13: 9783639106312

Publisher: 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.

About this title

About the Author

Jia-Sheng Hu received the M.S. and Ph.D. degrees under the guidance of Professor Mi-Ching Tsai from Department of Mechanical Engineering, National Cheng Kung University in Taiwan in 2003 and 2007, respectively. His research interests include motion control and robotics. He is a member of IEEE and Phi Tau Phi Scholastic Honor Society.

Edition details

• Publisher: VDM Verlag Dr. Müller
• Publication date: 2008
• ISBN 10: 3639106318
• ISBN 13: 9783639106312
• Binding: Paperback
• Language: English
• Number of pages: 144