Dynamic system error diagnostic appts., e.g. for motor vehicle - determines integrated disturbance vector, consisting of sum of external and internal vectors of dynamic system, based on internal state vector of dynamic system, and cross-correlates with internal state vector

摘要

The system (10), such as a road wheel and its suspension, is diagnosed (30) on the basis of an input (u) from a controller (12) and an external disturbance (d). The output (y) is fed back to an observer (32) which works out an integrated disturbance vector (w) from the sum of external and internal disturbances. Cross-correlation (34) of the integral with an internal state vector (x), coupled from the output, is followed (36) by specification (38) and diagnosis of a corresp. error component of the system. USE/ADVANTAGE - In diagnosis of e.g tyre pressure or changes in wt. of vehicle bodywork, precise results are possible in narrow range of computation without recourse to numerous observers.