Fault-tolerant design for increasing the reliability of an autonomous driving gear shifting system

Stetter, Ralf; Göser, Richy; Gresser, Sebastian; Till, Markus; Witczak, Marcin

doi:10.17531/ein.2020.3.11

Artykuł - szczegóły

Tytuł artykułu

Fault-tolerant design for increasing the reliability of an autonomous driving gear shifting system

Autorzy

Stetter Ralf , Göser Richy , Gresser Sebastian , Till Markus , Witczak Marcin

Treść / Zawartość

Pełne teksty:

Pobierz

Identyfikatory

DOI

10.17531/ein.2020.3.11

Warianty tytułu

Projektowanie tolerujące uszkodzenia zwiększające niezawodności systemu zmiany biegów pojazdu autonomicznego

Języki publikacji

Abstrakty

The reliability of technical systems can be greatly reduced if possible faults cannot be accommodated but lead to system shut-down with sometimes catastrophic consequences. The algorithms and systems of fault-tolerant control were developed in the last years into a powerful tool to accommodate such faults. Additionally, it became obvious that the design of a technical system can ease or hinder the application of these tools and can also lead to the accommodation of faults be itself. This kind of design – fault-tolerant design – and its components are presented in this paper on the example of a shifting system for the gear box an autonomous driving race car. This race car competes in the well-known formula student driverless competition; in such competitions the reliability of the car and the capability to accommodate not avoidable faults is of paramount importance. The different elements of fault-tolerance incorporated in the design of the gear shifting system are explained on the basis of an established model of product concretization.

Niezawodność systemów technicznych może być znacznie ograniczona w przypadku braku odpowiedniej akomodacji uszkodzeń, która może doprowadzić do awarii systemu mogącej mieć katastrofalne konsekwencje. W celu przeciwdziałania temu niepożądanemu zjawisku, w ostatnich latach opracowano szereg algorytmów sterowania tolerującego uszkodzenia, umożliwiających odpowiednią akomodację uszkodzeń. Dodatkowo, oczywistym jest, że sposób projektowania danego systemu może ułatwić lub utrudnić funkcjonowanie powyższych algorytmów. Może one również sam w sobie umożliwiać odpowiednią akomodację uszkodzeń. Tak sposób projektowania, projektowanie tolerujące uszkodzenia, jest przedmiotem niniejszej pracy na przykładzie systemu zmiany biegów w autonomicznych pojeździe wyścigowym. Powyższy pojazd współzawodniczy w znanych studenckich zawodach wyścigowych pojazdów autonomicznych. Oczywistym jest fakt, że w tego typu zawodach, niezawodność pojazdu i jego zdolność akomodacji uszkodzeń jest szczególnie ważna. W pracy rozważa się różne element projektowania tolerującego uszkodzenia systemu zmiany biegów opisanego na podstawie ustalonego modelu konkretyzacji produktu.

Słowa kluczowe

fault-tolerant design design methods design for reliability automated gear shifting

projektowanie tolerujące uszkodzenia metody projektowania projektowanie dla niezawodności automatyczna zmiana biegów

Wydawca

Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne

Czasopismo

Eksploatacja i Niezawodność

Rocznik

2020

Tom

Vol. 22, no. 3

Strony

482--492

Opis fizyczny

Bibliogr. 63 poz., rys., tab.

Twórcy

autor

Stetter Ralf

ralf.stetter@rwu.de

Department of Mechanical Engineering Ravensburg-Weingarten University (RWU) Doggenriedstrasse, 88250 Weingarten, Germany

autor

Göser Richy

rg-152598@hs-weingarten.de

Department of Mechanical Engineering Ravensburg-Weingarten University (RWU) Doggenriedstrasse, 88250 Weingarten, Germany

autor

Gresser Sebastian

sebastian.gresser@rwu.de

Department of Mechanical Engineering Ravensburg-Weingarten University (RWU) Doggenriedstrasse, 88250 Weingarten, Germany

autor

Till Markus

markus.till@rwu.de

Department of Mechanical Engineering Ravensburg-Weingarten University (RWU) Doggenriedstrasse, 88250 Weingarten, Germany

autor

Witczak Marcin

m.witczak@issi.uz.zgora.pl

Institute of Control and Computational Engineering University of Zielona Góra (UZ) ul. Podgórna 50, 65-246 Zielona Góra, Poland

Bibliografia

1. An H, Fidan B, Liu J, Wang C, Wu L. Adaptive fault-tolerant control of air-breathing hypersonic vehicles robust to input nonlinearities. International Journal of Control 2019; 92(5): 1044-1060, https://doi.org/10.1080/00207179.2017.1381346.
2. Banachowicz A, Wolski A. A Comparison of the Least Squares with Kalman Filter Methods Used in Algorithms of Fusion with Dead Reckoning Navigation Data. Transnav, the International Journal on Marine Navigation and Safety of Sea Transportation 2017; 11, 4; 691 – 695, https://doi.org/ 10.12716/1001.11.04.16.
3. Barbieri G, Fantuzzi C. Borsari R. A model-based design methodology for the development of mechatronic systems. Mechatronics 2014; 24: 833 – 843, https://doi.org/10.1016/j.mechatronics.2013.12.004
4. Bernard R, Irlinger R. About watches and cars: winning R&D strategies in two branches. Presentation at the International Symposium "Engineering Design – The Art of Building Networks"; Garching, Germany, 2016.
5. Bianchi N, Dai Pré M, Bolognani M. Design of a Fault-Tolerant IPM Motor for Electric Power Steering, IEEE Transactions on Vehicular Technology 2006; 55 (4): 1102 – 1111, https://doi.org/10.1109/TVT.2006.877716.
6. Blanke M, Kinnaert M, Lunze J, Staroswiecki M. Diagnosis and Fault-Tolerant Control. New York: Springer, 2016, https://doi.org/10.1007/978-3-662-47943-8.
7. Brando G, Dannier A, Del Pizzo A, Di Noia L P. Electric steering for aircraft nose landing gears using axial-flux permanentmagnet motors. Proceedings of the XXII International Conference on Electrical Machines (ICEM) 2016, https://doi.org/10.1109/ICELMACH.2016.7732612.
8. Chamas M, Paetzold K. Modeling of Requirement-Based Effect Chains of Mechatronic Systems in Conceptual Stage. International Journal of Electrical and Electronic Engineering & Telecommunications 2018; 7 (3): 127-134, https://doi.org/10.18178/ijeetc.7.3.127-134.
9. Chen S, Chen B, Shi F. Distributed Fault-Tolerant Consensus Protocol for Fuzzy Multi-Agent Systems. Circuits Systems Signal Process (2019) 38:611–624, https://doi.org/10.1007/s00034-018-0872-y.
10. Charrier J J, Kulshreshtha A. An electric actuation for flight and engine control system: Evolution, current trends and future challenges. In Proceedings of the 45th AIAA Aerospace Sciences Meeting and Exhibit, 2007, https://doi.org/10.2514/6.2007-1391.
11. Cordoneanu D, Nitu C. A Review of Fault Diagnosis in Mechatronics Systems. In: Gheorghe G. (eds) Proceedings of the International Conference of Mechatronics and Cyber-MixMechatronics – 2018. ICOMECYME 2018. Lecture Notes in Networks and Systems, vol 48. Springer, Cham, https://doi.org/10.1007/978-3-319-96358-7_18.
12. Cross N. Engineering Design Methods: Strategies for Product Design. John Wiley and Sons Ltd., 2008.
13. Cui J, Ren Y, Xu B, Yang D, Zeng S. Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 42–51, http://dx.doi.org/10.17531/ein.2020.1.6.
14. Dorociak R, Gausemeier J. Modeling of the Failure Propagation of an Advanced Mechatronic System within the Specification of its Principle Solution. Proceedings of the Design Society: Design Conference 2012: 807– 816.
15. Dubrova E. Fault-Tolerant Design. Springer, 2013. https://doi.org/10.1007/978-1-4614-2113-9.
16. Ehrlenspiel K, Meerkamm H. Integrierte Produktentwicklung. Denkabläufe, Methodeneinsatz, Zusammenarbeit. Carl Hanser, 2013, https://doi.org/10.3139/9783446436275.
17. Eisenbart B, Gericke K, Blessing L, McAloone T. A DSM-based Framework for Integrated Function Modeling: Concept, Application and Evaluation. Research in Engineering Design, 2016; 28 (1): 25 - 51. https://doi.org/10.1007/s00163-016-0228-1.
18. Eissa M A, Darwish R R, Bassiuny A M. Design of Observer-Based Fault Detection Structure for Unknown Systems using Input–Output Measurements: Practical Application to BLDC Drive. Power Electronics and Drives 2019: 4, 39; 217 – 226, https://doi.org/ 10.2478/pead-2019-0017.
19. Elwert M, Ramsaier M, Eisenbart B, Stetter R. Holistic Digital Function Modelling with Graph-Based Design Languages. In: Proceedings of the Design Society: International Conference on Engineering Design / Volume 1 / Issue 1, Cambridge University Press, 2019: 1523-1532, https://doi.org/10.1017/dsi.2019.158.
20. Gausemeier J, Pöschl M, Dyetr S, Kaiser L. Modeling and Analyzing Fault-tolerant Mechatronic Systems. Proceedings of the Design Society: International Conference on Engineering Design ICED 2009: 6-55 – 6-66.
21. Gao Z. Active Disturbance Rejection Control: A Paradigm Shift in Feedback Control System Design. Proceedings of the 2006 American Control Conference. IEEE: 2006.
22. Han J. From PID to Active Disturbance Rejection Control. IEEE Transactions on Industrial Electronics 2009; 56 (3): 900 – 906, https://doi.org/10.1109/TIE.2008.2011621.
23. Holder K, Zech A, Ramsaier M, Stetter R, Niedermeier H-P, Rudolph S, Till M. Model-Based Requirements Management in Gear Systems Design Based On Graph-Based Design Languages. Applied Sciences, 2017; 7, 1112; https://doi.org/10.3390/app7111112.
24. Huang H-Z, Yu K, Huang T, Li H, Qian H-M. Reliability estimation for momentum wheel bearings considering frictional heat. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 6–14, http://dx.doi.org/10.17531/ein.2020.1.2.
25. Hruschka P. Business Analysis und Requirements Engineering: Produkte und Prozesse nachhaltig verbessern. Hanser, 2014, https://doi.org/10.3139/9783446438620.
26. Hsieh T-Y, Li K-H, Chung C-C. A fault-analysis oriented re-design and cost-effectiveness evaluation methodology for error tolerant applications. Microelectronics Journal, 2017; 66: 48 – 57, https://doi.org/10.1016/j.mejo.2017.05.018.
27. Iscioglu F, Kocak A. Dynamic reliability analysis of a multi-state manufacturing system. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2019; 21 (3): 451–459, http://dx.doi.org/10.17531/ein.2019.3.11.
28. Isermann R. Fault Diagnosis Systems. An Introduction from Fault Detection to Fault Tolerance. New York: Springer, 2006, https://doi.org/10.1007/3-540-30368-5.
29. Li J, Wang Z, Ren Y, Yang D, Lv X. A novel reliability estimation method of multi-state system based on structure learning algorithm. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 170–178, http://dx.doi.org/10.17531/ein.2020.1.20.
30. Li Y, Wang K. Modified convolutional neural network with global average pooling for intelligent fault diagnosis of industrial gearbox. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 63–72, http://dx.doi.org/10.17531/ein.2020.1.8.
31. Lin J W, Yang, M F. Fault-tolerant design for wide-area mobile ipv6-networks. The Journal of Systems and Software, 2009; 82, 1434 – 1446, https://doi.org/10.1016/j.jss.2008.07.021.
32. Lindemann U. Methodische Entwicklung technischer Produkte. Springer, 2009, https://doi.org/10.1007/978-3-642-01423-9.
33. Konowrocki R, Chojnacki A. Analysis of rail vehicles’ operational reliability in the aspect of safety against derailment based on various methods of determining the assessment criterion. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 73–85, http://dx.doi.org/10.17531/ein.2020.1.9.
34. Mathias J, Eifler T, Engelhardt R, Kloberdanz H, Birkhofer H, Bohn A. Selection of Physical Effects Based on Disturbances and Robustness Ratios in the Early Phases of Robust Design. In: Proceedings of the International Conference on Engineering Design, ICED11, 15 - 18 August 2011, Technical University of Denmark.
35. Mazurkiewicz D. Computer-aided maintenance and reliability management systems for conveyor belts. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2014; 16 (3): 377–382.
36. Mhenni F, Nguyen N, Choley J Y, Rivière A. SafeSysE: A Safety Analysis Integration in Systems Engineering Approach, IEEE Systems Journal 2018; 12(1) 161 – 172, https://doi.org/10.1109/JSYST.2016.2547460.
37. Mu L, Li L, Yu X, Zhang Y, Li P, Wang X. Observer‐based fault‐tolerant control of hypersonic scramjet vehicles in the presence of actuator faults and saturation. International Journal of robust and nonlinear control 2019; 29(16): 5377-5393, https://doi.org/10.1002/rnc.4004.
38. Münzer C, Shea K. Simulation-Based Computational Design Synthesis Using Automated Generation of Simulation Models from Concept Model Graphs. Journal of Mechanical Design 2017; 139(7), 071101, https://doi.org/10.1115/1.4036567.
39. Nie S, Mao C, Wang D. Fault Tolerant Design for Electronic Power Transformer. In Proceedings of the IEEE PES Asia-Pacific Power and Energy Conference 2016, https://doi.org/10.1109/APPEEC.2016.7779592
40. Njindam T, Paetzold K. Design for Reliability: an Event- and Function-Based Framework for Failure Behavior Analysis in the Conceptual Design of Cognitive Products. In: Proceedings of the Design Society: International Conference on Engineering Design ICED 2011.
41. Oh Y G, Jeong J K, Lee J J, Lee Y H, Baek S M, Lee S J. Fault-tolerant design for advanced diverse protection system. Nuclear Engineering and Technology 2013; 45(6): 795 – 802, https://doi.org/10.5516/net.02.2013.526.
42. Pahl G, Beitz W, Feldhusen J, Grote K-H. Engineering Design: a systematic Approach. Springer, 2007, https://doi.org/10.1007/978-1-84628-319-2.
43. Pham H. System Software Reliability. Springer, 2006, https://doi.org/10.1007/1-84628-295-0.
44. Ponn J, Lindemann U. Konzeptentwicklung und Gestaltung technischer Produkte. Springer, 2011, https://doi.org/10.1007/978-3-540-68563-0.
45. Ramirez-Neria M, Sira-Ramirez H, Garrido-Moctezuma R, Luviano-Juarez A. Linear active disturbance rejection control of underactuated systems: The case of the Furuta pendulum. ISA Transactions 2014; 53: 920 – 928, http://dx.doi.org/10.1016/j.isatra.2013.09.023.
46. Rathi S, Gupta R. Sensor placement methods for contamination detection in water distribution networks: a review. Procedia Eng. 2014; 89:181 – 188, https://doi.org/10.1016/j.proeng.2014.11.175.
47. Rouissi F, Hoblos G. Fault tolerant sensor network design with respect to diagnosability properties. In: Proceedings of the 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), 2012: 1120 – 1124, https://doi.org/10.3182/20120829-3-mx-2028.00067.
48. Saeed M, Rodriguez A, Arias M, Briz F. Flexible and Fault Tolerant Distributed Control Structures for Modular Power Electronic Transformers. Proceedings of the IEEE Applied Power Electronics Conference and Exposition (APEC), IEEE Xplore 2019, https://doi.org/10.1109/APEC.2019.8722316.
49. Shirazipourazad S, Sen A, Bandyopadhyay S. Fault-tolerant design of wireless sensor networks with directional antennas. Pervasive and Mobile Computing 2014; 13: 258 – 271, https://doi.org/10.1016/j.pmcj.2014.03.004.
50. Stetter R. Fault-Tolerant Design and Control of Automated Vehicles and Processes. Insights for the Synthesis of Intelligent Systems. Cham: Springer, 2020, https://doi.org/10.1007/978-3-030-12846-3.
51. Stetter R, Witczak M, Pazera M. Virtual Diagnostic Sensors Design for an Automated Guided Vehicle. Applied Sciences, 2018, 8(5), 702;https://doi.org/10.3390/app8050702.
52. Tavares S M O, de Castro P M S T. Damage Tolerance of Metallic Aircraft Structures Cham: Springer, 2019, https://doi.org/1010.1007/978-3-319-70190-5.
53. Tian J, Zhou C, Yang Y, Wu W, Mao C, Wang D. Individual DC Voltage Balance Control for Cascaded H-Bridge Electronic Power Transformer With Separated DC-Link Topology. IEEE Access 2019; 7: 38558 – 38567, https://doi.org/ 10.1109/ACCESS.2019.2905006.
54. Vališ D, Koucky M, Zak L. On approaches for non-direct determination of system deterioration. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2012; 14 (1): 33–41.
55. Valis D, Pietrucha-Urbanik K. Utilization of diffusion processes and fuzzy logic for vulnerability assessment. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2014; 16 (1): 48–55.
56. Varga A. Solving Fault diagnosis Problems. Linear Synthesis Techniques. Springer, 2017, https://doi.org/10.1007/978-3-319-51559-5.
57. Vedachalam N, Umapathy A, Ramadass G A. Fault-tolerant design approach for reliable offshore multi-megawatt variable frequency converters. Journal of Ocean Engineering and Science 2016; 1: 226 – 237, https://doi.org/10.1016/j.joes.2016.06.001.
58. Vogel S. An application‑independent continuum mechanics interface for virtual engineering. Engineering with Computers 2019; 35: 551 – 565. https://doi.org/10.1007/s00366-018-0617-3.
59. Witczak M, Majdzik P, Stetter R, Bocewicz B. Interval max-plus fault-tolerant control under resource conflicts and redundancies: application to the seat assembly. International Journal of Control 2019: 1 – 13; https://doi.org/10.1080/00207179.2019.1630749.
60. Zhang C, Jaimoukha I M, Sevilla F R S. Fault-tolerant observer design with a tolerance measure for systems with sensor failures. Proceedings of the American Control Conference (ACC) 2016, https://doi.org/10.1109/ACC.2016.7526861.
61. Zhang C, Zhang Y. Common cause and load-sharing failures-based reliability analysis for parallel systems. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 26–34, http://dx.doi.org/10.17531/ein.2020.1.4.
62. Zhang X, Zhao J. Compound fault detection in gearbox based on time synchronous resample and adaptive variational mode decomposition. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2020; 22 (1): 161 – 169, http://dx.doi.org/10.17531/ein.2020.1.19.
63. Zheng C, Hehenberger P, Le Duigou J, Bricogne M, Eynard B. Multidisciplinary design methodology for mechatronic systems based on interface model. Research in Engineering Design 2017; 28, 333 – 356. https://doi.org/10.1007/s00163-016-0243-2.

Typ dokumentu

Bibliografia

Identyfikator YADDA

bwmeta1.element.baztech-841fded0-5a2e-4ada-a46b-8b2c02b3d3be