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    • 4. 发明申请
    • State of health monitoring and fault diagnosis for integrated vehicle stability system
    • 综合车辆稳定系统的健康监测和故障诊断状态
    • US20060020379A1
    • 2006-01-26
    • US10899445
    • 2004-07-26
    • Mutasim SalmanMark Howell
    • Mutasim SalmanMark Howell
    • G06F17/00
    • B60T8/885B60T2270/406B60T2270/413
    • A system and method for providing state of health monitoring and fault diagnostics for a vehicle stability system. The system includes at least one primary sensor and at least one secondary sensor for sensing the operation of at least one vehicle characteristic. The system calculates an estimated output of the primary sensor using at least one estimate model, and generates at least one residual as the difference between a measured output of the primary sensor and the estimated output of the estimate model. The system uses a residual pattern to determine if the primary sensor is faulty. The system compares the measured output of the primary sensor to a measured output of the secondary sensor if the residual is less than a threshold, and determines that the secondary sensor is faulty if the comparison between the measured outputs of the primary and secondary sensors is greater than a predetermined threshold.
    • 一种用于为车辆稳定系统提供健康状态监测和故障诊断的系统和方法。 该系统包括至少一个主传感器和用于感测至少一个车辆特性的操作的至少一个次传感器。 该系统使用至少一个估计模型计算主传感器的估计输出,并且产生至少一个残差,作为主传感器的测量输出与估计模型的估计输出之间的差。 系统使用残差模式来确定主传感器是否有故障。 如果残差小于阈值,则系统将主传感器的测量输出与次传感器的测量输出进行比较,并且如果主传感器和次传感器的测量输出之间的比较较大,则确定次传感器故障 超过预定阈值。
    • 6. 发明申请
    • System and method for fuzzy-logic based fault diagnosis
    • 基于模糊逻辑的故障诊断系统和方法
    • US20070078576A1
    • 2007-04-05
    • US11243058
    • 2005-10-04
    • Mutasim SalmanPierre-Francois Quet
    • Mutasim SalmanPierre-Francois Quet
    • G06F19/00
    • G07C5/0808G07C5/085
    • A system and method for monitoring the state of health of sensors, actuators and sub-systems in an integrated vehicle control system. The method includes identifying a plurality of potential faults, identifying a plurality of measured values, and identifying a plurality of estimated values based on models in the control system. The method further includes identifying a plurality of residual error values as the difference between the estimated values and the measured values. The method also defines a plurality of fuzzy logic membership functions for each residual error value. A degree of membership value is determined for each residual error value based on the membership functions. The degree of membership values are then analyzed to determine whether a potential fault exists.
    • 一种用于监测综合车辆控制系统中的传感器,致动器和子系统的健康状况的系统和方法。 该方法包括识别多个潜在故障,识别多个测量值,以及基于控制系统中的模型来识别多个估计值。 该方法还包括将多个残余误差值识别为估计值与测量值之间的差值。 该方法还为每个残差误差值定义多个模糊逻辑隶属函数。 基于隶属函数确定每个残差误差值的隶属度度。 然后分析隶属度的程度以确定是否存在潜在的故障。
    • 7. 发明申请
    • Method and apparatus to control coordinated wheel motors
    • 控制协调轮电机的方法和装置
    • US20070021875A1
    • 2007-01-25
    • US11187493
    • 2005-07-22
    • Sanjeev NaikMutasim Salman
    • Sanjeev NaikMutasim Salman
    • G06F17/00
    • B60T8/1755B60K7/0007B60K17/356B60L2220/46B60L2260/28B60T2270/303B60T2270/613B60W30/045B60W2520/14
    • A method and system providing coordinated torque control and speed control of a vehicle equipped with individual wheel motors, a steering system, and yaw-rate detection to achieve a desired yaw moment for the vehicle, based upon operator input and vehicle operation, is described. This includes determining a commanded steering angle, and a yaw-rate error, based upon the commanded steering angle and detected yaw-rate. A desired wheel motor yaw torque moment is calculated. First and second torque moments are calculated for inner and outer motored wheels, based upon the desired wheel motor yaw torque moment. First and second ideal wheel speeds are calculated for the inner and outer motored wheels, based upon the commanded steering angle. Torque and speed at each inner motored wheel and each outer motored wheel are calculated, based upon the yaw-rate error, the first and second torque moments, and the first and second ideal wheel speeds.
    • 描述了一种基于操作员输入和车辆操作来提供配备有各个车轮电动机的车辆的协同转矩控制和速度控制的方法和系统,其中转向系统和偏航率检测以实现用于车辆的期望的横摆力矩。 这包括基于所命令的转向角和检测到的偏航速率确定指令的转向角和偏航率误差。 计算期望的车轮电机偏航力矩。 基于期望的车轮电机偏航力矩计算内外轮的第一和第二扭矩。 根据指定的转向角度,为内外轮驱动计算第一和第二理想车轮速度。 基于偏航率误差,第一和第二扭矩以及第一和第二理想轮速,计算每个内动轮和每个外动轮的扭矩和速度。
    • 8. 发明申请
    • State-of-health monitoring and fault diagnosis with adaptive thresholds for integrated vehicle stability system
    • 健康状态监测和故障诊断与综合车辆稳定系统的自适应阈值
    • US20070067078A1
    • 2007-03-22
    • US11228913
    • 2005-09-16
    • Mutasim SalmanMark Howell
    • Mutasim SalmanMark Howell
    • G01M17/00
    • G01R31/2829G01R31/007G01R31/2846
    • A system and related method for monitoring the state of health of sensors in an integrated vehicle stability control system. In one embodiment, the system determines whether a yaw rate sensor, a lateral acceleration sensor or a hand-wheel angle sensor has failed. The system uses a plurality of models to generate estimates of the outputs of the sensors based on the actual sensor measurements. Residuals are generated as the difference between the measured value and each of the estimates for the particular sensor. The residuals are compared to a threshold to determine whether a fault flag will be set for each residual. The threshold for the hand-wheel angle sensor is an adaptive threshold because it does not have physical redundancy. If the fault flags for the residuals for each sensor have a particular pattern, then a fault is output for that sensor.
    • 一种用于监测综合车辆稳定性控制系统中的传感器的健康状态的系统和相关方法。 在一个实施例中,系统确定偏航率传感器,横向加速度传感器或手轮角度传感器是否已经失败。 该系统使用多个模型来基于实际的传感器测量来产生传感器的输出的估计。 残差产生为测量值与特定传感器的每个估计值之间的差值。 将残差与阈值进行比较,以确定是否为每个残差设置故障标志。 手轮角度传感器的阈值是自适应阈值,因为它没有物理冗余。 如果每个传感器的残差的故障标志具有特定的模式,则会为该传感器输出故障。