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Approche linéaire à paramètres variants pour l'observation, le diagnostic et la commande de dynamique des véhicules


Directeur de thèse :     Olivier SENAME

École doctorale : Electronique, electrotechnique, automatique, traitement du signal (EEATS)

Spécialité : Autre

Structure de rattachement : Autre

Établissement d'origine : Tecnologico de Monterrey - NL Mexique

Financement(s) : autres financements


Date d'entrée en thèse : 01/01/2014

Date de soutenance : 24/10/2016


Composition du jury :
Dr. Rubén Morales Menéndez Dr. Olivier Sename Dr. Luc Dugard Dr. Ricardo Ramírez Mendoza Dr. Horacio Ahuett Garza


Résumé : Automotive vehicles are continuously evolving due to demands of safer, more efficient, reliable and comfortable vehicles. To fulfill those requirements various Vehicle Control Systems (VCS) have been developed. The increased complexity and the availability of sensors lead to the opportunity to develop and use Faul Detection (FD) and Fault Tolerant Control (FTC) systems. This dissertation deals with a) the modeling and estimation of damper faults in a semi-active suspension and b) FD and FTC design for the vehicle longitudinal-lateral dynamics. First, a faulty damper model was proposed and validated using experimental data of a commercial passive damper with different oil leakage levels. From this model, a FDD strategy based on the frequency response of the Quarter of Vehicle model was developed. Experimental results on a 1:5 scale vehicle show the effectiveness of the proposed strategy to estimate damper faults considering parametric uncertainty and road disturbance. On the other hand, it is shown that the steering and velocity control problem must be treated as a cross-coupled problem. Decentralized controllers for these subsystems are designed, practically eliminating the cross-coupling. A further problem is the propagation of the failure of one subsystem to the other subsystems. In particular, when theSpeed Control System (SpCS) fails, the steering subsystem performance is degraded due to cross-coupling. To maintain the lateral dynamics performance in presence of faults, FD and FTC schemes were proposed to accommodate failures of the SpCS within the steering control system. Simulation results using a full nonlinear vehicle model show that the proposed scheme is able to compensate the fault effects.

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