model based fault detection and diagnosis - supélec st.petersburg... · model-based fault...
TRANSCRIPT
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2. M
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of p
asse
nger
car
-C
ombu
stio
n en
gine
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
nO
vera
ll p
roce
ss a
uto
mat
ion
sys
tem
Rol
f Ise
rman
n
Su
per
visi
on
met
ho
ds:
•lim
it c
hec
kin
g:
•si
mpl
e, r
elia
ble,
rel
ativ
e la
rge
tole
ranc
es
•di
rect
ly m
easu
red
sign
als,
onl
y de
tect
ion
ofla
rge
faul
ts
•no
dia
gnos
is
Rol
f Ise
rman
n
Su
per
visi
on
met
ho
ds:
•lim
it c
hec
kin
g:
•si
mpl
e, r
elia
ble,
rel
ativ
e la
rge
tole
ranc
es
•di
rect
ly m
easu
red
sign
als,
onl
y de
tect
ion
ofla
rge
faul
ts
•no
dia
gnos
is
•ad
van
ced
fau
ltd
etec
tio
n m
eth
od
s: r
equ
irem
ents
?
•ea
rly d
etec
tion
of s
mal
l fau
lts
•fa
ult d
iagn
osis
in c
ompo
nent
s (a
ctua
tors
, pro
cess
, sen
sors
, con
trol
ler)
, at
leas
t with
an
indi
catio
n of
sm
alle
st e
xch
ang
eab
le u
nit
•fa
ult d
etec
tion
in c
lose
d lo
op
s
•fa
ult d
etec
tion
in t
ran
sien
t st
ates
Rol
f Ise
rman
nS
up
ervi
sio
n w
ith
fau
lt d
iag
no
sis
and
fau
lt m
anag
emen
t
Rol
f Ise
rman
nS
up
ervi
sio
n w
ith
fau
lt d
iag
no
sis
and
fau
lt m
anag
emen
t
„Su
per
visi
on
-lo
op
“
Rol
f Ise
rman
n
Met
ho
ds
for
Fau
lt
det
ecti
on
Sig
nal
bas
edfa
ult
d
etec
tio
n
Mo
del
-bas
edF
ault
d
etec
tio
n
Lim
it v
alu
e/tr
end
chec
k
Tra
ject
ory
su
per
visi
on
Pla
usi
bili
ty
chec
kA
nal
ysis
of
sig
nal
m
od
els
An
alys
is o
f p
roce
ss
mo
del
s
Par
amet
er
esti
mat
ion
Sta
te
esti
mat
ion
Par
ity
eq
uat
ion
sC
orr
elat
ion
Fo
uri
er
anal
ysis
Wav
elet
an
alys
isS
tati
stic
alev
alu
atio
nE
ven
tT
ime
sup
ervi
sio
n
Su
rvey
of
fau
lt d
etec
tio
n m
eth
od
s
Rol
f Ise
rman
nF
ault
det
ecti
on
bas
ed o
n s
ign
al m
od
els
Cha
nge
dete
ctio
n
Sig
nal
-bas
edfa
ult
det
ecti
on
Nor
mal
beha
viou
rs
Ana
lytic
al s
ympt
oms
Th
resh
old
-p
lau
sib
il.-
chec
k
Vib
rati
on
sig
nal
mo
del
s
Pro
cess
Fau
lts
Act
u-
ato
rsS
en-
sors
U
NY
Rol
f Ise
rman
nFau
lt d
etec
tio
n a
nd
dia
gn
osi
s w
ith
sig
nal
mo
del
s an
d p
roce
ss m
od
els
Cha
nge
dete
ctio
n
Fau
ltdi
agno
sis
Dia
gnos
edfa
ults
Sig
nal
-bas
edfa
ult
det
ecti
on
Pro
cess
mo
del
-bas
edfa
ult
det
ecti
on
Nor
mal
beha
viou
rs
Ana
lytic
al s
ympt
oms
f
Th
resh
old
-p
lau
sib
il.-
chec
k
Vib
rati
on
sig
nal
mo
del
s
Pro
cess
Pro
cess
mod
el
Fea
ture
gene
ratio
n
Fau
lts
Act
u-
ato
rsS
en-
sors
U
NY
Fea
ture
sx
r,Θ
,
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2.P
roce
ssm
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of p
asse
nger
car
-C
ombu
stio
n en
gine
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
nG
ener
al s
chem
e o
f p
roce
ss m
od
el-b
ased
fau
lt d
etec
tio
n a
nd
dia
gn
osi
s
Rol
f Ise
rman
n
(a)
SIS
O (
sing
le-in
put s
ingl
e-ou
tput
);
(b)
SIS
O w
ith in
term
edia
te m
easu
rem
ents
; (c
) S
IMO
(si
ngle
-inpu
tmul
ti-ou
tput
);
(d)
MIM
O (
mul
ti-in
putm
ulti-
outp
ut)
Pro
cess
con
figur
atio
n fo
r m
odel
-bas
ed fa
ult d
etec
tion
Rol
f Ise
rman
n
(a)
abru
pt;
(b)
inci
pien
t;(c
) in
term
itten
t
Tim
e-de
pend
ency
of f
aults
Rol
f Ise
rman
naddi
tive
faul
ts
mul
tiplic
ativ
efa
ults
Bas
ic m
odel
s of
faul
ts
Rol
f Ise
rman
nF
ault
det
ecti
on
of
a n
on
-lin
ear
stat
ic p
roce
ss v
ia p
aram
eter
es
tim
atio
n f
or
stea
dy
stat
es
Rol
f Ise
rman
nL
inea
r d
ynam
ic p
roce
ss m
od
els
and
fau
lt m
od
ellin
g
Rol
f Ise
rman
nF
ault
det
ecti
on
wit
h p
aram
eter
est
imat
ion
met
ho
ds
for
dyn
amic
pro
cess
es
Rol
f Ise
rman
nF
ault
dete
ctio
n w
ith o
bser
vers
for
dyna
mic
pro
cess
es
Rol
f Ise
rman
nF
ault
dete
ctio
n w
ith p
arity
equ
atio
ns fo
r dy
nam
ic p
roce
sses
Rol
f Ise
rman
n
Pro
cess
mo
del
-bas
ed m
eth
od
s:
par
amet
er e
stim
atio
n:
a
dapt
ive
para
m.
par
ity
equ
atio
ns:
fix
ed p
aram
eter
so
bse
rver
s, K
alm
anfi
lter
: fi
xed
para
met
ers
Pro
cess
Fau
lt-D
etec
tion
f̂
Fau
ltde
tect
ion
Ap
plic
abili
ty:
Par
amet
er e
stim
atio
n:
-pr
imar
ily m
ultip
licat
ive
faul
ts,
-in
put e
xcita
tion
requ
ired,
-1
inpu
t and
1 o
utpu
tsuf
ficie
nt(S
ISO
)-
smal
l fau
ltsde
tect
able
Par
ity
equ
atio
ns
-pr
imar
ily a
dditi
vefa
ults
ob
serv
ers:
-no
inpu
t exc
itatio
nfo
r ad
ditiv
e fa
ults
atth
e in
put
and
outp
ut,b
utfo
r so
me
mul
tiplic
ativ
e fa
ults
-in
gen
eral
mor
e in
puts
and
outp
uts
requ
ired
(MIS
O, M
IMO
)
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2. M
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of p
asse
nger
car
-C
ombu
stio
n en
gine
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
nM
etho
ds o
f fau
lt di
agno
sis
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2. M
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of p
asse
nger
car
-C
ombu
stio
n en
gine
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
nA
ctua
tor
serv
o-dr
ive
for
cabi
n pr
essu
re c
ontr
ol
Rol
f Ise
rman
nR
edun
dant
DC
mot
or d
rive
syst
em fo
r th
e ou
tflow
val
ve
IIII
Rol
f Ise
rman
nT
heor
etic
al m
odel
of t
he a
ctua
tor
Th
eore
tica
l mo
del
of
the
actu
ato
r
•E
lect
rica
l par
t: B
rush
less
DC
mo
tor
-
•M
ech
anic
al p
art:
-T
orqu
e ba
lanc
e fo
r m
otor
and
gea
r w
ith d
ry fr
ictio
n
-Lo
ad to
rque
in d
epen
denc
e on
pos
ition
-kn
own
para
met
ers:
•G
ear
rati
o:
-
12
31
23
22
()
()
()
()
()
()
33
E
rE
r
Rk
UR
RR
It
tR
It
kt
ωω
=+
+⋅
+Ψ
+Ψ
+Ψ
⋅=
⋅+
⋅1442443
1442443
()
()
sign
((
))(
)T
rr
fric
tr
load
kI
tJ
tM
tM
tω
ω=
⋅+
⋅+
&
()
()
load
sg
Mt
cf
ϕ=
,Tk
J
()
()/
ϕϕ
=g
rt
tn
Rol
f Ise
rman
n
Sig
nal
flo
w d
iag
ram
Act
uat
or
in c
lose
d lo
op
Dir
ectl
y m
easu
rab
le s
ign
als:
•br
idge
vol
tage
U•
brid
ge c
urre
nt I
•m
otor
pos
ition
/spe
ed (
halls
enso
rs)
ϕ r, ω
r•
shaf
t pos
ition
(po
tent
iom
eter
) ϕ g
Sig
nal
flo
w d
iag
ram
of
the
actu
ato
r
-- -
I
�r
�r
�p
� r� g
Bru
sh
less
DC
mo
tor
1 R1 Js
r
k T
UM
A
Mlo
ad
Mfr
ic
f(.
)
P
co
ntr
olle
r
k E
�1 s
1 n
M
-M
ge
ar
-
Rol
f Ise
rman
n
Rec
urs
ive
par
amet
er e
stim
atio
n
ˆ(
)(
)=
Ty
tt
ψΘ
•P
roce
ss m
od
el
•R
ecu
rsiv
e p
aram
eter
est
imat
ion
: (t=
kT0)
•E
lect
rica
l su
bsy
stem
•M
ech
anic
al s
ub
syst
em
ˆˆ
ˆ(
1)(
)(
)[(
1)(
1)(
)]+
=+
+−
+T
kk
ky
kk
kΘ
Θγ
ψΘ
()
()
()
[(
)(
)]
ˆˆ
ˆ[
]
ω=
=
=
Tr
TE
yt
Ut
tI
tt
Rk
ψ Θ ()
()
()
()
()
[sig
n(
)]
ˆˆ
()
[]
f
Ts
gr
r
Tr
Tfr
ict
f
yt
kI
tc
fJ
t
tt
tc
Mc
ϕω
ω
=−
−
= =→
ψ Θ
&,
(),
)T
sg
rk
cf
Jϕ
(kno
wn
para
met
ers:
Rec
urs
ive
par
amet
er e
stim
atio
n o
f th
e ac
tuat
or
Rol
f Ise
rman
n
Par
ity
equ
atio
ns
fro
m t
heo
reti
cal d
eriv
ed p
roce
ss m
od
els
1 2 3 4()
()
()
()
()
()
()
sign
()
()
()
()
((
)(
)si
gn(
)(
))
()
()
()/
ωω
ωϕ
ωϕ
ωω
ϕϕ
=−
−=
−−
−
=−
++
+
=−
&E
r
Tr
rf
rs
g
rr
sg
fr
Er
T
gr
rt
Ut
RI
tk
t
rt
kI
tJ
tc
tc
f
Rr
tU
tJ
tc
fc
tk
tk
rt
tt
v
g
Uϕ I
allb
utgϕ
ϕas
sum
ed to
be
corr
ect
r
Inde
pend
ent o
n:
Par
ity
equ
atio
ns
wit
h t
he
actu
ato
r m
od
el
Rol
f Ise
rman
n
Dis
cret
e ti
me
pro
cess
mo
del
15 g
ener
ated
fea
ture
s
Dia
gn
osi
s sy
stem
3 eq
uat
ion
s
3 p
aram
eter
esti
mat
es t
hro
ug
h r
ecu
rsiv
e p
aram
eter
est
imat
ion
5 re
sid
ual
s fr
om
par
ity
equ
atio
ns
furt
her
fea
ture
s
Man
ual
des
ign
ed f
uzz
y sy
stem
fo
r re
fere
nce
Au
tom
atic
op
erat
ing
fu
zzy-
neu
ro s
yste
m S
EL
EC
T (
Fü
ssel
200
2)
•ar
mat
ure
res
ista
nce
•fl
ux
linka
ge
•ea
chin
dep
end
ent
on
on
e se
nso
rsig
nal
•5
vari
ance
s o
f re
sid
ual
s
•3
feat
ure
s fr
om
hal
lsen
sor
fau
lt d
etec
tio
n
Mo
del
bas
ed f
ault
det
ecti
on
Fau
lt d
etec
tio
n a
nd
dia
gn
osi
s al
go
rith
ms
RE
k•
dry
fric
tio
n
fc
Rol
f Ise
rman
n
Tes
t b
ench
Tes
t b
ench
fo
r th
e o
utf
low
act
uat
or
Po
wer
su
pp
ly
actu
ato
r
PC
Dev
elo
pm
ent
syst
em
Mic
ro-
con
tro
ller
anal
og
low
pas
s fi
lter
s
Sen
sor
fau
ltsi
mu
lato
r
pro
cess
inte
rfac
e an
dF
ault
gen
erat
ion
Rol
f Ise
rman
nR
esu
ltin
g s
ymp
tom
s fr
om
par
amet
er e
stim
atio
n a
nd
p
arit
y eq
uat
ion
s b
y m
easu
rin
g U
(t),
I(t)
,ω(t
),ϕ g
(t)
and
ϕ r(t
)
Arm
atu
rere
sist
ance
fric
tio
nvo
ltag
eS
haf
tp
osi
tio
ncu
rren
tA
rmat
ure
resi
stan
cefr
icti
on
volt
age
Sh
aft
po
siti
on
curr
ent
Rol
f Ise
rman
n
Par
amet
er e
stim
ates
Res
idua
l par
ityeq
uatio
nsF
aults
R̂ˆ Ek
ˆ fc1r
2r3r
4r
incr
. R+
00
+0
+0
incr
. cf
00
+++
--++
0of
fset
U+
+0
++0
++0
offs
et
gϕ0
00
+0
00
offs
et
bI++
---
++++
0--
(0 n
o si
gnifi
cant
cha
nge;
+ in
crea
se; +
+ la
rge
incr
ease
;- d
ecre
ase;
-- la
rge
decr
ease
Par
amet
er d
evia
tio
ns
and
par
ity
equ
atio
n r
esid
ual
s fo
r d
iffe
ren
t ac
tuat
or
fau
lts
Fau
lt-s
ymp
tom
tab
le f
or
the
ou
tflo
w v
alve
D.C
. mo
tor
actu
ato
r
→A
ll fa
ults
can
be
isol
ated
with
both
met
hods
(dia
gnos
ed)
→co
nst
ant
inp
uts
:o
nly
par
ity
equ
atio
ns
use
d, b
ut
fau
lts
inU
and
Rn
ot
dis
tin
gu
ish
able
iffa
ult
sd
etec
ted
by
par
ity
equ
atio
ns:
sh
ort
in
pu
t ex
cita
tio
nan
dp
aram
eter
est
imat
ion
→
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2. M
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of a
pas
seng
er c
ar-
Com
bust
ion
engi
ne
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
n
Co
ncl
usi
on
s fo
r ve
hic
le s
up
ervi
sio
n:
•3
mea
sure
d s
ign
als:
ste
erin
g an
gle,
vel
ocity
, yaw
rat
e
•1
calc
ula
ted
par
amet
er (
feat
ure
): c
hara
cter
istic
vel
ocity
→A
pp
licat
ion
fo
r d
rive
r as
sist
ance
sys
tem
s (E
SP
, act
ive
fro
nt
stee
rin
g)
and
dri
ver
war
nin
g
Rol
f Ise
rman
n
)(
00
)(
)(
)(10
)(
01
)(
)(
)(
)(
)(
)(
)(
)(
)(
)(
)(
1)
()
()
(
)(
)(
)(
)(
)(
)(
)(
222
t
mi
ctt
tm
vl
cl
cm
tv
mc
ct
y
tt
tt
tt
t
iJ
lc
it
mvc
tt
vJ
lc
lc
Jl
cl
ct
mv
lc
lc
tm
vt
vm
cc
tt
tt
tt
t
stFF
FR
RR
F
stz
FF
st
F
z
FF
RR
z
FF
RR
FF
RR
RF
δψβ
ψβ
δ
δψβ
ψβ
δ
αα
αα
α
αα
αα
αα
αα
αα
′+
′−
++
′−
=
⋅+
⋅=
′′
+
′+
−′
−
−′
−+
+′
−=
⋅+
⋅=
&&
&&&
&
&
&&&&
D
x
Cy
B
xA
x
Stea
dy-s
tate
-rep
rese
ntat
ion
of o
ne-t
rack
mod
el
Inpu
t:
Stee
ring
whe
el a
ngle
Out
put:
Side
-slip
ang
le
Yaw
rat
e
Lat
eral
acc
eler
atio
n
2nd
ord
er n
on
-lin
ear
mo
del
Val
id a
pp
rox.
un
til 0
.4 g
mm
ass
of v
ehic
lec α
Ffr
ont c
orne
ring
stiff
ness
c α
Fre
ar c
orne
ring
stiff
ness
l Fle
ngth
from
fron
t axl
e to
C.G
.l R
leng
th fr
om r
ear
axle
to C
.G.
vve
loci
ty
On
e-tr
ack
mo
del
δ
y&&& ψβ
v
Intr
oduc
tion
Veh
icle
Mod
elC
oncl
usio
nsSt
abili
tyC
VSI
Rol
f Ise
rman
nSt
abili
ty o
f ve
hicl
e dy
nam
ics
1
The
cha
ract
eris
tic
equa
tion
for
the
late
ral v
ehic
le d
ynam
ics:
det
(sI-
A)=
0
lead
s to
Stab
ility
req
uire
s:a 1
>0
∧a 0
>0
1.a 1
>0
isal
way
s sa
tisf
ied!
2.a 0
>0
is
not
alw
ays
sati
sfie
d!, i
.e.
•a 0
>0:
Sta
ble
(i.e
. und
erst
eeri
ng b
ehav
iour
)
•a 0
=0:
Sta
bilit
y lim
it:
Def
. of
the
char
acte
rist
ic v
eloc
ity:
•a 0
<0:
Uns
tabl
e (i
.e. o
vers
teer
ing
beha
viou
r)
0)
()
()
()
(
01
2
'2
2'
2'
22
=−
++
++
++
+
44
44
44
48
44
44
44
47
64
44
44
48
444
44
47
6a
Z
FF
RR
RF
RF
a
Z
RR
zF
Fz
mv
J
lc
lc
mv
ll
cc
sm
vJ
cm
lJ
cm
lJ
sα
αα
αα
α
0)
()
(!
2'
2>
++
+R
Rz
FF
zc
ml
Jc
ml
Jα
α
0)
()
(!
'2
2'
>−
++
FF
RR
RF
RF
lc
lc
mv
ll
cc
αα
αα
22
0:
over
stee
ring
0:
neut
rals
teer
ing
()
0:
unde
rste
erin
g
FR
chR
RF
F
cc
lv
mc
lc
lα
α
αα
< ′
=
= ′
− >
Intr
oduc
tion
Veh
icle
Mod
elC
oncl
usio
nsSt
abili
tyC
VSI (i
s ba
sica
lly a
con
stan
t pa
ram
eter
of
a ve
hicl
e, h
owev
er d
epen
ds
on c
orne
ring
sti
ffne
ssc α
(t)
)
Rol
f Ise
rman
n
CV
SI
Sta
bili
ty
0st
able
brak
ing
/ ac
cele
ratin
g un
der
µ-sp
lit-1
un
stab
le
-u
nd
erst
eeri
ng
1st
able
ov
erst
eeri
ng
3st
able
hig
h o
ver
stee
rin
g4
ind
iffer
ent
bre
akin
g a
way
5u
nst
able
2st
able
stra
igh
t ru
nn
ing
corn
erin
g
Sig
nal
pro
cess
ing
Dri
vin
g s
ituat
ion
neu
rals
teer
ing
()
() 0
2>
∧
<
v
thre
sst
stδ
δ ()
() 0
2>
∧
≥
v
thre
sst
stδ
δ
()
thre
sψ
ψ&
&<
∧
()
thre
sψ
ψ&
&≥
∧
()
02≥
∧ch
v ()
02<
∧ch
v
()
22
chv
v<<
∧
()
22
chv
v<<
∧
()
22
chv
v<
∧
()
22
chv
v=
∧
()
22
chv
v>
∧
Cha
ract
eris
tic V
eloc
ity S
tabi
lity
Indi
cato
r (C
VSI
)
Mea
sure
d se
nsor
sig
nal
Cal
cula
ted
vari
able
cha
ract
eris
tic
velo
city
!
Indi
cato
rM
easu
red
sens
or s
igna
l
Intr
oduc
tion
Veh
icle
Mod
elC
oncl
usio
nsSt
abili
tyC
VSI
Rol
f Ise
rman
nS
teer
ing
gai
n r
atio
in d
epen
den
ce o
n t
he
spee
d v
2an
d c
har
acte
rist
ic
velo
city
v2 ch
Rol
f Ise
rman
n
Acc
eler
atio
n se
nsor
Yaw
rat
e se
nsor
Whe
el s
peed
se
nsor
s (4
x)St
eeri
ng w
heel
an
gle
sens
or
Tes
t veh
icle
sen
sors
Intr
oduc
tion
Veh
icle
Mod
elC
oncl
usio
nsSt
abili
tyC
VSI
Rol
f Ise
rman
n
y&&&
∨ψ y&&
&∨
ψ
steering wheel angleδ[rad]
velocityv [m/s]
yaw rate dψ/dt[rad/s]
tim
e t
[s]
CVSI
Step
inpu
t
1011
1213
1415
1617
681012-50510 0
0.5
-0.5 246 0
Bra
king
Und
er-
stee
ring
Uns
tabl
e
Icy
road
Ver
ific
atio
n of
CV
SI s
yste
m w
ith r
eal t
est-
driv
e
Intr
oduc
tion
Veh
icle
Mod
elC
oncl
usio
nsSt
abili
tyC
VSI
Rol
f Ise
rman
n
steeringangleδL[rad]
yawrate dψ/dt[rad/s] CVSI
-50510 0
1.0
-1.0 02 -24 12
1722
time
t[s]
lane
cha
nge
1la
ne c
hang
e 2
v=
12
m/s
brea
k aw
ay,
coun
ter
stee
ring
3
3
Do
ub
le la
ne
chan
ge
Rol
f Ise
rman
n
MO
DE
L-B
AS
ED
FA
UL
T D
ET
EC
TIO
N A
ND
DIA
GN
OS
IS-
Sta
tus
and
Ap
plic
atio
ns
-
1. In
tro
du
ctio
n
2. M
od
el-b
ased
fau
lt d
etec
tio
n m
eth
od
s
3. F
ault
dia
gn
osi
s m
eth
od
s
4. A
pp
licat
ion
s
-C
abin
pre
ssur
e ou
tflow
val
ve-
Driv
ing
beha
vior
of p
asse
nger
car
-C
ombu
stio
n en
gine
Rol
f Ise
rman
nD
arm
stad
t Uni
vers
ity o
f Tec
hnol
ogy
Rol
f Ise
rman
n
Mo
del
bas
ed f
ault
det
ecti
on
of
com
bu
stio
n e
ng
ines
:
•m
od
ern
co
mb
ust
ion
en
gin
essh
ow a
n in
crea
se o
f sen
sors
,ac
tuat
ors
and
mec
hatr
onic
func
tions
•tr
ou
ble
sh
oo
tin
gm
etho
ds a
nd fa
ult d
etec
tion
shou
ld b
e im
prov
ed
•o
nly
pro
du
ctio
n s
enso
rsan
d sm
all c
ompu
tatio
nal e
ffort
are
al
low
ed
•m
od
el b
ased
fau
lt d
iag
no
sis
met
ho
ds
open
new
pos
sibi
litie
s
•E
xam
ple
: ai
r p
ath
sys
tem
of
a D
iese
l en
gin
e
Mo
del
bas
ed f
ault
dia
gn
osi
s o
f co
mb
ust
ion
en
gin
es
Rol
f Ise
rman
nD
iese
l en
gin
e co
ntr
ol s
yste
m
4 m
ain
man
ipul
ated
var
iabl
es3
mea
sure
d ou
tput
var
iabl
es7
mea
sure
d in
flue
ncin
g va
riab
les
Rol
f Ise
rman
n
Mod
ule
1: in
take
sys
tem
; mod
ule
2: in
ject
ion,
com
bust
ion;
mod
ule
3: e
xhau
st s
yste
m
Co
nce
pt
of
a m
od
ula
r m
od
el-b
ased
fau
lt-d
etec
tio
n s
yste
m
of
the
com
ple
te c
om
bu
stio
n e
ng
ine.
Rol
f Ise
rman
n
SF
A
actu
ator
SF
Au
Eng
ine
cont
rol
syst
emIn
ject
ion
syst
em
EG
R
valv
e
ET
C
actu
ator
ET
Cu
iM
EB
Θ EG
Ru
.vo
lef
fici
ency
SD
etec
tion
met
hods
In
take
sys
tem
at
Ta
tp
2,I
p 2,I
T
air
m&2
,(
)I
ampl
itud
ep
S
2,
()
Eph
ase
pS
()
Lam
plit
ude
mS
&
()
Lph
ase
mS
&
Bm
2O
,E
GR
EG
Rp
T
oil
T
wT
en
SF
Au
SF
Aa
ctu
ato
rS
−
Com
-bu
stio
n
Exh
aust
ga
s re
circ
ulat
.
boos
ttem
pS
Exh
aust
tu
rbin
e
Sw
irl
fla
ps
Inte
rcoo
ler
Tur
bo c
om-
pres
sor
Inta
ke
pipe
s
Exh
aust
pi
pes
Eng
ine
mec
hani
cs
Rol
f Ise
rman
n
Fau
lt:
Fau
lt-di
agno
sis
(out
look
)
Fau
lt-sy
mpt
om-t
able
,faul
t-sy
mpt
om-t
rees
and
Fuz
zy-L
ogic
: On-
Boa
rd-D
iagn
osis
Typ
eS
ize
Lo
cati
on
Tur
boco
mpr
esso
rIn
let m
anifo
ld
Air
filte
r
Sw
irl fl
aps
actu
ator
Inletvalves
Air
mas
sS
enso
r
Blo
w-b
y
Inte
rcoo
ler
Inta
ke s
yste
m
,air
sen
sor
m
,a
iren
gin
em
EG
RP
WM ,
at
at
pT
engi
nen
turb
on
SF
AP
WM
turb
Pco
mp
P
Inpu
tva
riabl
esO
utpu
tva
riabl
es EG
Rm
2,
2,
,I
Ip
T
Met
ho
d o
f M
od
el-B
ased
Fau
lt D
etec
tio
n
Res
idu
als
Sym
pto
ms
Ref
eren
cem
odel
-+
Mea
sure
d pr
oces
sva
riabl
es
Fau
lt-de
tect
ion
Filt
er
Rol
f Ise
rman
n
2,I
T
2,I
p
,ai
rse
nso
rm
EG
R-
Val
ve-
Fau
lt
Com
pres
sorT
urbi
ne p
ower
Inte
rcoo
ler
Cra
nk
case
ven
t
Air
mas
s se
nsor
Air
filte
r
Fre
sh a
ir
Inle
t man
ifold
Sw
irl p
ort
Fill
ing
port
Man
ifold
tem
pera
ture
sens
or
Man
ifold
pres
sure
sens
or
Res
tric
tio
n
Lea
kag
e
Bu
ilt-i
n f
ault
s
Op
enjo
inin
g
Sw
irl f
lap
s ac
tuat
or
Air
pat
h o
verv
iew
Rol
f Ise
rman
n
Inta
ke S
yste
m f
rom
Co
mp
ress
or
to In
let
Man
ifo
ld
Rol
f Ise
rman
n
Vol
umet
ric
effic
ienc
y:,
,
2,
,
2,
1 2
air
eng
air
eng
vI
air
then
gD
I
mm
pm
nV
RT
η=
=⋅
⋅⋅
⋅
&&
&Mo
del
ing
of
No
n-L
inea
r E
ng
ine
Inta
ke B
ehav
iou
r
Dis
trib
uti
on
of
mea
suri
ng
po
ints
acr
oss
th
e M
od
el
•Id
entif
icat
ion
with
neu
ral n
et (
LOLI
MO
T)
Con
tinuo
us F
unct
ion:
En
gin
e sp
eed
[1/
min
]
Boo
st d
ensi
ty [k
g/m
^3]
()
2,,
ven
gI
fn
ηρ
=
Volumetric efficiency[-]
Phy
sica
l Mod
elin
g: i
deal
dis
plac
emen
t pum
p
,ai
ren
gm
2,I
p
3p2
,IT
eng
n
NN
-Mod
elin
g:•
Dyn
amic
flow
effe
cts
•C
harg
e he
atin
g•
exha
ust g
as e
ffect
s
Rol
f Ise
rman
n
018
036
054
072
01.
7
1.8
1.92
Mo
del
ing
of
Cra
nk
An
gle
Syn
chro
no
us
Bo
ost
Pre
ssu
re O
scill
atio
n
Bo
ost
p
ress
ure
[bar
]
n eng
= 2
000m
in-1
Cra
nk a
ngle
[°C
A]
10
002
00
03
000
40
00
11
.52
2.50
0.0
5
0.1
0.1
5
Eng
ine
spee
d [1
/min
]B
oost
den
sity
[kg/
m3 ]
Amplitude[bar]
10
002
00
03
000
40
00
1
2
3-2
002040
Eng
ine
spee
d [1
/min
]B
oost
den
sity
[kg/
m3 ]
Phase[°KW]
()
()
()
2,
2,
2,
2,
,co
s2
,18
0I
Ien
gI
eng
Ip
pA
pp
fn
fn
KW
ϕα
αρ
πρ
≅+
⋅⋅
−
°
Am
plit
ud
e:
Ph
ase:
NN
-Mod
elin
g:
Rol
f Ise
rman
n
()
2,
,en
gI
vv
vr
fn
ηη
ρη
=−
Cal
cula
tio
n o
f R
esid
ual
s an
d S
ymp
tom
s w
ith
Par
ity
Eq
uat
ion
s
1) R
esid
ual
Vo
l. E
ffic
ien
cy
()
2,
,,
eng
Iai
rse
nsor
mm
mA
Ar
Af
nρ
=−
&&
&
()
2,
,,
eng
Im
mai
rse
nsor
mr
fn
ϕϕ
ϕρ
=−
&&
&
4) R
esid
ual
amp
litu
de
air
mas
s fl
ow o
scill
atio
n
5) R
esid
ual
ph
ase
air
mas
s fl
ow o
scill
atio
n()
2,
2,
,en
gI
pp
Ip
rf
nϕ
ϕϕ
ρ=
−
3) R
esid
ual
ph
ase
bo
ost
pre
ssu
re o
scill
atio
n
2) R
esid
ual
am
plit
ud
eb
oo
st p
ress
ure
osc
illat
ion
()
2,
2,
,en
gI
pp
Ip
AA
rA
fn
ρ=
−
Lo
w p
ass
(op
tion
al)
Au
sb
len
du
ng
falls
Vo
rau
s-se
tzun
ge
n
Ju
mp
-cu
t f
un
ctio
n,
if p
reco
nd
itio
ns
are
n’t
fullf
illed
De
ad
-zon
e
Th
resh
old
valu
eRe
al
pro
cess
Re
fere
nce
mod
el
Inp
ut
vari
ab
les
Re
sid
ua
l
me
ass
ure
dpro
cess
sig
na
lor
featu
re
Re
fere
nce
m
ode
l sig
nal
or
featu
reD
iffe
ren
ce
Sym
pto
m
Rol
f Ise
rman
n
Dyn
amo
met
er T
est
Dyn
amo
met
er T
est
Bed
Bed
En
gin
e d
ynam
om
eter
wit
h 1
60 k
Win
du
ctio
n m
ach
ine,
2d
Sp
ace
DS
P`s
& p
ow
er P
C`s
Rol
f Ise
rman
n
Dyn
amo
met
er T
est
Bed
Dyn
amo
met
er T
est
Bed
Rol
f Ise
rman
n
-30
-20
-100
10
Tw
ist
flap
s ac
tuat
or
clo
sed
Res
tric
tio
n
bet
wee
nin
terc
oo
ler
and
en
gin
e
-20
-1001020 -5051015
Tim
e[s
]0
5010
015
020
0-1
0-50510
-0.10
0.1
0.2
0.3
0.4
Lea
kag
es
5mm
4mm
7
mm
Rem
ove
d t
ub
e o
f th
e cr
ank
case
ven
tE
GR
-Val
ve
op
en[
]v
r η−
[/
]kg
hA mr&
[]
CA
mr ϕ
°&
[]
mba
rA
pr
[]
CA
pr ϕ
°
Res
idua
l def
lect
ion
in d
epen
denc
e on
fau
lts (
onlin
e). 2
000
min
-1 ,
130
Nm
, p2,
i=
1.5
bar
, air
flo
w 1
65 k
g/h
Rol
f Ise
rman
n
Fa
ult
sS
ym
pto
ms
Re
mo
ved
tu
be
of
the
cra
nk
case
ve
nt
+o
oo
o
Le
aka
ge
be
twe
en
inte
rco
ole
r a
nd
en
gin
e-
oo
oo
Re
stri
ctio
n b
etw
ee
nin
terc
oo
ler
an
d e
ng
ine
o-
-+
+
Sw
irl f
lap
s a
ctu
ato
r, f
illin
gp
ort
is c
lose
do
--
oo
EG
R-v
alv
e:
stu
ck a
t o
pe
n+
+-
-o
o
Le
aky
EG
R-v
alv
e+
oo
oo
mAS
&p
AS
Sνη
mS ϕ
&p
S ϕ
Fau
lt-S
ymp
tom
-Tab
le f
or
Fau
lt D
iag
no
sis
Lege
nd:
++ S
ympt
om r
espo
nds
inte
nse
posi
tive
+ S
ympt
om r
espo
nds
posi
tive
-S
ympt
om r
espo
nds
nega
tive
o S
ympt
om d
oes
not r
espo
nd
Sym
ptom
vol
umet
ric e
ffici
ency
Sym
ptom
am
plitu
de a
ir m
ass
flow
osc
illat
ion
Sym
ptom
am
plitu
de b
oost
pre
ssur
e os
cilla
tion
Sym
ptom
pha
se a
ir m
ass
flow
osc
illat
ion
Sym
ptom
pha
se b
oost
pre
ssur
e os
cilla
tion
mAS
& pA
S
mS ϕ
& pS ϕS
νη
Rol
f Ise
rman
n
Co
ncl
usi
on
s
•F
ault
det
ecti
on
:•
data
pro
cess
ing
of in
put a
nd o
utpu
t sig
nals
with
mod
elba
sed
met
hods
allo
ws
the
gene
ratio
n of
sev
eral
sym
ptom
s•
the
com
bina
tion
of p
arity
equ
atio
ns a
nd p
aram
eter
est
imat
ion
allo
ws
a go
od fa
ult c
over
age
with
rea
sona
ble
effo
rt•F
ault
dia
gn
osi
s:•
clas
sific
atio
n w
ith p
atte
rn r
ecog
nitio
n•
faul
t-sy
mpt
om tr
ee e
valu
atio
n w
ith if
-the
n fu
zzy
rule
s •M
ath
emat
ical
mo
del
s:•
phys
ical
, sem
i-phy
sica
l or
blac
kbox
•Im
ple
men
tati
on
:•
on-li
ne, r
eal-t
ime
onm
icro
cont
rolle
rs•O
utl
oo
k:•
faul
t det
ectio
n m
etho
ds a
re b
asic
for
mai
nten
ance
on d
eman
dan
d fa
ult-
tole
rant
sys
tem
s