Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift
For the problem of actuator-integrated fault estimation (FE) and fault tolerant control (FTC) for the electric power steering (EPS) system of a forklift, firstly, a dynamic model of a forklift EPS system with actuator faults was established; then, an integrated FE and FTC design was proposed. The no...
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MDPI AG
2021-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/16/7236 |
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| author | Xiangxiang Su Benxian Xiao |
| author_facet | Xiangxiang Su Benxian Xiao |
| author_sort | Xiangxiang Su |
| collection | DOAJ |
| description | For the problem of actuator-integrated fault estimation (FE) and fault tolerant control (FTC) for the electric power steering (EPS) system of a forklift, firstly, a dynamic model of a forklift EPS system with actuator faults was established; then, an integrated FE and FTC design was proposed. The nonlinear unknown input observer (NUIO) was proposed to estimate the system states and actuator faults, and an adaptive sliding mode FTC system was constructed based on it. The gain of the observer and controller is obtained by <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>H</mi><mo>∞</mo></msub></mrow></semantics></math></inline-formula> optimization and one-step linear matrix inequality (LMI) formula operation in order to realize the overall optimal design of an FTC system. Finally, the experimental results show that when actuator failure occurs, the proposed integrated FE and FTC were more accurate than the decentralized design to estimate the system states and the actuator faults. The proposed fault-tolerant controller can more effectively restore the power assist performance of the steering power motor in case of failure and effectively ensure the safety and reliability of the forklift EPS system. |
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| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T09:02:39Z |
| publishDate | 2021-08-01 |
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| spelling | doaj.art-a99bef1e3e574cba83e9652e025921632023-11-22T06:38:38ZengMDPI AGApplied Sciences2076-34172021-08-011116723610.3390/app11167236Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of ForkliftXiangxiang Su0Benxian Xiao1School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, ChinaSchool of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, ChinaFor the problem of actuator-integrated fault estimation (FE) and fault tolerant control (FTC) for the electric power steering (EPS) system of a forklift, firstly, a dynamic model of a forklift EPS system with actuator faults was established; then, an integrated FE and FTC design was proposed. The nonlinear unknown input observer (NUIO) was proposed to estimate the system states and actuator faults, and an adaptive sliding mode FTC system was constructed based on it. The gain of the observer and controller is obtained by <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msub><mi>H</mi><mo>∞</mo></msub></mrow></semantics></math></inline-formula> optimization and one-step linear matrix inequality (LMI) formula operation in order to realize the overall optimal design of an FTC system. Finally, the experimental results show that when actuator failure occurs, the proposed integrated FE and FTC were more accurate than the decentralized design to estimate the system states and the actuator faults. The proposed fault-tolerant controller can more effectively restore the power assist performance of the steering power motor in case of failure and effectively ensure the safety and reliability of the forklift EPS system.https://www.mdpi.com/2076-3417/11/16/7236integrated fault estimation and fault-tolerant controlactuatorNUIOEPS |
| spellingShingle | Xiangxiang Su Benxian Xiao Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift Applied Sciences integrated fault estimation and fault-tolerant control actuator NUIO EPS |
| title | Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift |
| title_full | Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift |
| title_fullStr | Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift |
| title_full_unstemmed | Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift |
| title_short | Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift |
| title_sort | actuator integrated fault estimation and fault tolerant control for electric power steering system of forklift |
| topic | integrated fault estimation and fault-tolerant control actuator NUIO EPS |
| url | https://www.mdpi.com/2076-3417/11/16/7236 |
| work_keys_str_mv | AT xiangxiangsu actuatorintegratedfaultestimationandfaulttolerantcontrolforelectricpowersteeringsystemofforklift AT benxianxiao actuatorintegratedfaultestimationandfaulttolerantcontrolforelectricpowersteeringsystemofforklift |