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Actuators
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Fault Detection and Isolation, Fault Tolerant Control for Autonomous and...
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Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Land Transport".

Deadline for manuscript submissions: 30 November 2024 | Viewed by 6888

Special Issue Editor

Dr. Cristina Morel

E-Mail Website
Guest Editor
Energy and Control of Transportation Systems Laboratory, Graduate School of Aeronautical, Aerospace, Automobile, Railway Engineering (ESTACA), 53061 Laval, France
Interests: power electronics; renewable energies; nonlinear dynamics; fault diagnosis
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Autonomous vehicles have captured the attention of multi-disciplinary researchers for a number of years. Considering the safety, comfort and convenience of passengers, there is a pressing need to develop more advanced vehicle state estimation, motion control, and diagnosis technologies. Real-time estimation of the vehicle state is foundational to achieving effective vehicle control schemes. Most autonomous and transport vehicles are based on electric machines and their corresponding power electronics systems. Inverters and converters contain ever greater numbers of power electronics switches: this may subsequently affect their reliability. Therefore, fault detection and location are essential to improving AV reliability and ensuring continuous operation. With advanced tools and technologies, we can create a safer, more efficient, and more sustainable future for automobiles and humankind.

This Special Issue will focus on publishing novel approaches to detecting and localizing the faults of autonomous and transport vehicles. We also encourage submissions on advanced state estimation and vehicle dynamics-based control strategies for autonomous vehicles. Original and innovative research studies from both academic and industrial research teams are welcomed. Potential topics include, but are not limited to:

  • vehicle state estimation
  • chassis control
  • active suspension control
  • fault detection and isolation
  • fault diagnosis and fault-tolerant control
  • vehicle motion control
  • active and semiactive vibration control
  • smart materials and structures

Dr. Cristina Morel
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • detection and isolation faults
  • fault tolerant strategy
  • inverter, converter and machine
  • vehicle dynamics
  • vehicle control
  • integrated chassis control
  • suspension control

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Published Papers (6 papers)

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Research

18 pages, 5244 KiB  
Article
Unified Fault-Tolerant Control and Adaptive Velocity Planning for 4WID-4WIS Vehicles under Multi-Fault Scenarios
by Ao Lu and Guangyu Tian
Actuators 2024, 13(10), 407; https://doi.org/10.3390/act13100407 - 7 Oct 2024
Viewed by 762
Abstract
Four-wheel independent drive and four-wheel independent steering (4WID-4WIS) vehicles provide increased redundancy in fault-tolerant control (FTC) schemes, enhancing heterogeneous fault-tolerant capabilities. This paper addresses the challenge of maintaining vehicle safety and maneuverability in the presence of actuator faults in autonomous vehicles, focusing on [...] Read more.
Four-wheel independent drive and four-wheel independent steering (4WID-4WIS) vehicles provide increased redundancy in fault-tolerant control (FTC) schemes, enhancing heterogeneous fault-tolerant capabilities. This paper addresses the challenge of maintaining vehicle safety and maneuverability in the presence of actuator faults in autonomous vehicles, focusing on 4WID-4WIS systems. A novel unified hierarchical active FTC strategy is proposed to handle various actuator failures. The strategy includes an upper-layer motion controller that determines resultant force requirements based on trajectory tracking errors and a middle-layer allocation system that redistributes tire forces to fault-free actuators using fault information. This study, for the first time, considers multi-fault scenarios involving longitudinal and lateral coupling, calculating FTC boundaries for each fault type. Additionally, a fault tolerance index is introduced for 256 fault scenarios, using singular value decomposition to linearly represent the vehicle attainable force domain. Based on this, an adaptive velocity planning strategy is developed to balance safety and maneuverability under fault conditions. Matlab 2021a/Simulink and Carsim 2019 co-simulation results validate the proposed strategies, demonstrating significant improvements in fault-tolerant performance, particularly in complex and emergency scenarios. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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22 pages, 8465 KiB  
Article
Fault Diagnosis Method of Permanent Magnet Synchronous Motor Based on WCNN and Few-Shot Learning
by Chao Zhang, Fei Wang, Xiangzhi Li, Zhijie Dong and Yubo Zhang
Actuators 2024, 13(9), 373; https://doi.org/10.3390/act13090373 - 20 Sep 2024
Viewed by 496
Abstract
With the continuous development of actuator technology, the Electro-Mechanical Actuator (EMA) is gradually becoming the first choice in the aviation field. Permanent Magnet Synchronous Motor (PMSM) is one of the core components of EMA, and its healthy state determines the working performance of [...] Read more.
With the continuous development of actuator technology, the Electro-Mechanical Actuator (EMA) is gradually becoming the first choice in the aviation field. Permanent Magnet Synchronous Motor (PMSM) is one of the core components of EMA, and its healthy state determines the working performance of EMA. In this paper, the interturn short-circuit fault of PMSM is taken as the typical fault, and a new fault diagnosis framework is proposed based on a wide-kernel convolutional neural network (WCNN) and few-shot learning. Firstly, the wide convolution kernel is added as the first layer to extract short-time features while automatically learning deeply oriented features oriented to diagnosis and removing useless features. Then, the twin neural network is introduced to establish a wide kernel convolutional neural network, which can also achieve good diagnostic results under a few-shot learning framework. The effectiveness of the proposed method is verified by the general data set. The results show that the accuracy of few-shot learning is 9% higher than that of WCNN when the fault data are small. Finally, a fault test platform was built for EMA to collect three-phase current data under different fault states, and the collected data were used to complete the fault diagnosis of PMSM. With limited data, the accuracy of few-shot learning increased by 8% on average compared with WCNN, which has good engineering value. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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23 pages, 12357 KiB  
Article
Electro-Mechanical Brake System Architectural Design and Analysis Based on Functional Safety of Vehicles
by Jing Peng, Tong Wu, Liang Chu, Jin Rong, Xiaojun Yang and Yang Meng
Actuators 2024, 13(9), 346; https://doi.org/10.3390/act13090346 - 9 Sep 2024
Viewed by 1230
Abstract
Electro-mechanical brake (EMB) systems have garnered significant attention due to their distributed architecture. However, their signals from the brake pedal to the wheel-end actuators (WEAs) are transmitted electrically, meaning that any fault in EMB systems can severely impair the braking performance of vehicles. [...] Read more.
Electro-mechanical brake (EMB) systems have garnered significant attention due to their distributed architecture. However, their signals from the brake pedal to the wheel-end actuators (WEAs) are transmitted electrically, meaning that any fault in EMB systems can severely impair the braking performance of vehicles. Consequently, the functional safety issues of EMB systems are the primary limitation of their widespread adoption. In response, this study first introduced the typical architectures of EMB and evaluated the automotive safety integrity level (ASIL) that must be achieved. Based on this, an EMB system architecture that satisfies functional safety standards was proposed. To accurately analyze the main factors affecting the probabilistic metric for hardware failures (PMHF) of the architecture, the failure rate of WEAs is further discussed. Specifically, a Markov chain was employed to define the operating states of the WEA matrix. The availability of each operating state was assessed based on the fault-tolerant control strategy. Finally, the failure rates of critical EMB parts, particularly the WEA matrix, were calculated. The results indicate that the unavailability of the WEA matrix is 9.244 × 10−3 FIT. Furthermore, the PMHFs of the EMB system for each safety goal are 6.14 FIT, 5.89 FIT, and 6.03 FIT, respectively, satisfying the ASIL-D requirements. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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19 pages, 13766 KiB  
Article
Development of Static Test Equipment and a System for Lever-Loaded Air Springs
by Shengli Zhao, Yirui Zhang, Baojun Qu, Xiangyu Tian and Qijun Zhu
Actuators 2024, 13(7), 231; https://doi.org/10.3390/act13070231 - 22 Jun 2024
Viewed by 712
Abstract
In light of the heavy load applied by traditional air spring test equipment and its complex structural system design, a lever-type torque loading air spring test system is designed. It adopts the principle of Chinese scales to apply the load on the air [...] Read more.
In light of the heavy load applied by traditional air spring test equipment and its complex structural system design, a lever-type torque loading air spring test system is designed. It adopts the principle of Chinese scales to apply the load on the air spring in the form of proportional amplification, which can apply a simulated load on the air spring of 500–800 kg, using the vertical sliding shaft as the transverse limit to make the air spring elongate and compress by 280 mm in the longitudinal direction. The measurement and control system of the test equipment is then developed based on the LabVIEW platform, and the required sensors are selected and installed. The system can achieve real-time data acquisition of the air pressure, load, height and other parameters of the air spring and air spring charging and discharging control. Following the debugging of the function of the test equipment, the function of each subsystem is normal and able to meet the requirements of air spring characteristic and pressure tightness tests. For small spaces, such as laboratories, by reducing the installation of hydraulic and other oil source systems, avoiding the use of large mass blocks to simulate the loading of air spring loads and optimizing the complex installation and debugging process, this miniaturized design for air spring test equipment has benefits for practical applications. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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18 pages, 6690 KiB  
Article
Augmented Kalman Estimator and Equivalent Replacement Based Taylor Series-LQG Control for a Magnetorheological Semi-Active Suspension
by Juncheng Wang, Mingyao Zhou, Jiacheng Tong, Jinyu Liu and Shian Chen
Actuators 2024, 13(4), 138; https://doi.org/10.3390/act13040138 - 8 Apr 2024
Viewed by 1312
Abstract
This research presents an augmented Kalman estimator and an equivalent replacement-based Taylor series (ERBTS)-linear quadratic Gaussian (LQG) control strategy to cope with the control accuracy and response delay of magnetorheological (MR) dampers for vehicle semi-active suspensions. The parameters in the MR model are [...] Read more.
This research presents an augmented Kalman estimator and an equivalent replacement-based Taylor series (ERBTS)-linear quadratic Gaussian (LQG) control strategy to cope with the control accuracy and response delay of magnetorheological (MR) dampers for vehicle semi-active suspensions. The parameters in the MR model are identified from experimental measurements. Then, two main sources of control error, namely, modelling error and real-time variety of the MR damper output force, are defined as an integrated compound real-time variety. Subsequently, they are written into a differential equation with characteristics of the minimum system to augment the state equation of the semi-active suspension system. The augmented Kalman estimator is constructed to estimate the abovementioned compound real-time variety. To calculate an acceptable time-delay compensation predictive control force, an equivalent operation is implemented beforehand in the suspension comprehensive performance index by replacing a part of the squared time-delay control force with the corresponding predictive control force. Simulation results verify the effectiveness of the proposed augmented Kalman estimator, and the newly developed ERBTS-LQG controller almost achieves control effectiveness of the ideal time delay free semi-active suspension. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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14 pages, 2395 KiB  
Article
Fault Diagnosis of Mine Truck Hub Drive System Based on LMD Multi-Component Sample Entropy Fusion and LS-SVM
by Le Xu, Wei Li, Bo Zhang, Yubin Zhu and Chaonan Lang
Actuators 2023, 12(12), 468; https://doi.org/10.3390/act12120468 - 16 Dec 2023
Cited by 3 | Viewed by 1678
Abstract
As the main transportation equipment in ore mining, the wheel drive system of mining trucks plays a crucial role in the transportation capacity of mining trucks. The internal components of the hub drive system are mainly composed of bearings, gears, etc. The vibration [...] Read more.
As the main transportation equipment in ore mining, the wheel drive system of mining trucks plays a crucial role in the transportation capacity of mining trucks. The internal components of the hub drive system are mainly composed of bearings, gears, etc. The vibration signals caused during operation are nonlinear and nonstationary complex signals, and there may be more than one factor that causes faults, which causes certain difficulties for the fault diagnosis of the hub drive system. A fault diagnosis method based on local mean decomposition (LMD) multi-component sample entropy fusion and LS-SVM is proposed to address this issue. Firstly, the LMD method is used to decompose the vibration signals in different states to obtain a finite number of PF components. Then, based on the typical correlation analysis method, the distribution characteristics and correlation coefficients of vibration signals in the frequency domain under different states are calculated, and effective PF multi-component sample entropy features are constructed. Finally, the LS-SVM multi-fault classifier is used to train and test the extracted multi-component sample entropy features to verify the effectiveness of the method. The experimental results show that, even in small-sample data, the LMD multi-component sample entropy fusion and LS-SVM method can accurately extract fault features of vibration signals and complete classification, achieving fault diagnosis of wheel drive systems. Full article
(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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