자율 주행 차량의 Steer-By-Wire System 고장 분석

초록

This paper presents a diagnostic strategy based on structural analysis for Steer by wire system (SBW)in self-driving car. SBW system can simply modeled by permanent magnet synchronous motor (PMSM), rack and pinion and rod tie analyzed with 3 DoF vehicle dynamics. Structural analysis analyzed the system model represented by Incidence Matrix and bipartitle Graph. Use these tools to find redundancy that can produce residuals. Structural analysis used for pre-analysis the system fault detection and isolation without knowing accurate parameters of the system. This paper proposes choose proper residual to identify and isolate multiple faults in SBW system.