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Wednesday, July 10 • 16:30 - 16:50

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Many safety-critical control systems adopt multiple redundant sensors to estimate the same control signal. If the sensors were to operate perfectly, only a subset of them would need to be used for the estimation. In practice, however, the sensors are subject to uncertainty, minor or major faults and their operation may be nonlinear. Therefore, it is crucial to reliably estimate the controlled signal under these conditions, assessing the degree of confidence with which each sensor should be treated. This paper investigates the virtual sensing of wheel position in ground-steering systems for aircraft using the output of four linear variable differential transformer (LVDT) sensors. The sensors are arranged to monitor the wheel position, which is calculated based on the nonlinear geometry of their alignment. A digital twin is first developed of the ground-steering mechanism. Even if each of the sensors is working without noise, there is ambiguity associated with all of the sensors that is seen as double solutions in the estimation. A kinematic analysis of position is presented, which relates the measurement of each LVDT with the actual steering angle. A bounded type of uncertainty is then introduced for each sensor output and is propagated through the model in order to calculate the maximum error in the steering angle estimation. The variation of such error with the wheel position is also presented. The best estimate is considered as the nearest solution between a set of measurements and the actual steering angle curve for the system without uncertainty. However, it is crucial that the estimate of the controlled signal does not change discontinuously, for example, if a sensor fails.

Wednesday July 10, 2019 16:30 - 16:50 EDT
St-Laurent 8