Bond Graph Model-Based Fault Detection and Isolation : Application to Intelligent Autonomous Vehicles
- Pp. 111-126 (16)Samir Benmoussa, Rochdi Merzouki and Belkacem Ould Bouamama
In this chapter, a methodology for plant fault detection and isolation using Bond Graph modeling tool is presented, the motivation using bond graph is that the dynamic model of the system and fault detection and isolation are performed using the same tool. Based on bond graph properties, the conditions of diagnosability are carried out structurally on the graph representing the system. The considered plant fault is a break of the transmission axle on an electromechanical system representing a quarter of an autonomous vehicle, named Robucar. Co-simulation using a vehicle simulator CALLAS/Simulink is given to show the efficiency of the proposed methodology.