Observation et commande tolérante aux fautes pour la dynamique verticale d'un mini véhicule équipé de suspensions semi-actives
Résumé
In this Final Year Project (FYP), we are looking to validate the control approaches on the platform INOVE which is available in the laboratory. It allows us to study the behavior of a vehicle via the inuence of roll and pitch angles and vertical movement of the car. The vehicle is equipped with semi-active suspensions with Electro-Rheological damper, in order to control in real time the damping behavior of the suspension. The project's objective is to develop control approaches for the synthesis of control laws which is tolerant to sensor faults. Following by this study, an international benchmark will be developed in order to verify the control laws .
The project has four major parts.
Firstly, the studies on semi-active suspension must be done in order to modeling it by mathematical and physical equations.
Secondly, the strategies for fault detection and diagnostics are realized in order to locate and estimate the sensor fault.
Thirdly, we develop the control input type FTC (fault-tolerant control) in order to assure the normal working state of the semi-active suspension against the sensor faults.
Finally, thanks to experiments with platform INOVE, we can verify the performance of the strategies and the controller. A benchmark is proposed at the end of this project.
In collaboration with CRAN Nancy and the Academy of Sciences of Budapest, the project is realized under the supervision of Mr SENAME Olivier and Mr KOENIG Damien at GIPSA-lab in Grenoble for a period of 5 months, from 01/02/2017 to 05/07/2017 .