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¢ 4   ! ) 0 #  4 ¦ &   5 # ¦  9 # ¨   &   {u h3¨ rQ©©h7h£•$! •Q‡¢ £¢ ¤¡ £¡ ˜RPF–PFR q cScYScUYe P W F ’vy F D T d e s € W P x € € W P e e a sy F –v T Wy F P F D T e T F x BpGww‡GX0Yu‚YSGccY™Ytf‘pY‘XB“pXxGX…U(QQi wwSB†w‰QEwf{‘AwX‘XQpUVU‘VwQX3pcYcF p „¨ syv P W gv P a Rv s Tv –v Tv R ’ F R T R ey Rv D T l P F – e ˜ # ˜ ¡ XGw§2 w‡j¡GX¥YE‘@BX‚pUcGx‘pXB@q SBW  F P x ”v ’v ’ p e D R R W Fy q W T € F T F i sy F P W F P g ˜  d e R Ty x Wd P W i W P F D T l syy W ’v ˜ g F T R s R a e e ™( BY§X‘QYkBQYS—GXBY‘wYQ“§2 fpUXAUhYA‘y  pUwc™QX8wv pUQEcYScUYVGX$Y—X‚p‚™GX—Ye vtQ‚cY—YGn“Q©wSA‘YY@YQ“‘SYVGX„‚wXR i F R ey € F D T ’ i F R x P F – P F R q e F D T d e R T € F y F F D T P d T ’ x e € € W T e ’ iv i Rv R sy W ’ W y W ’v ”v P e F D T F € ’v Ty x Wd P F T F g e T F ’ ” W g ’ W P F i ’ x F T W gv T R F i ’ ‘QY„cUchUcQB†uYEcGQxUB†wXXp…QYW ¢ vwQYfGp†UQhUfpF ¤ wY8SYj ¨ ˜ ¡ XG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e F P x ”v Magnetometer No Fault Radar Idle 0 2 |µ |(m) ls 4 6 8 0 |µ | 1 2 0 2 4 0 1 2 3 0 2 4 6 8 100 100 100 100 100 100 150 150 150 150 150 150 200 200 200 200 200 200 250 Time (sec) True Estimate 250 250 250 250 250 300 300 300 300 300 300 350 350 350 350 350 350 a w n |µ | |µ | |µ | δ 2 |µ | δ 1 0 2 100 150 200 250 300 350 |µ | n 1 0 2 100 150 200 250 300 350 |µ | w 1 0 2 100 150 200 250 300 350 |µ | a 1 0 100 150 200 250 300 350 Accelerometer Wheel Speed Magnetometer Radar No Fault Idle 100 150 200 250 300 350 True Estimate |µ |(m/s ) 2 0.6 0.4 0.2 0 100 150 200 Time (sec) 250 300 ls 350 Ty x Wd P F T F g e P Fy F € € W ’ W P F i ’ x F T W gv T R F i ’ ‘YfVcUchXc‘p‚cYuYEcGQQxUB8wXUpfQYW ¢ —‘QYGc†UQ†AUupF ¤ wY†SY„"¨ ˜ ¡ SG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e  F P x ”v Ty x Wd P e R ’ F R i F a R y F F D p W P F i ’ x F T W gv T R F i ’ ‘QYEYUQpUupcF X3pcGjhEcGQxUB†wXXpfQYW ¢ vwQYfGp†UQhUbpF ¤ “Y†SY„¨ ˜ ¡ XG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e  F P x ”v ¥ Wheel Speed Magnetometer Radar No Fault Idle 0 |µls|(rad/s) 1 2 0 |µa| 1 2 0 1 |µw| 2 0 |µn| 1 2 0 |µδ| 1 2 100 100 100 100 100 100 150 150 150 150 150 150 200 Time (sec) 200 200 200 200 200 250 250 250 250 250 250 300 300 300 300 300 300 True Estimate 350 350 350 350 350 350 Ty x Wd P e R ’ F R P W i W P W P F i ’ x F T W gv T R F i ’ ‘QYEYUpUjBQYS†EcGQQxUB8wXUpfQYW ¢ v‘QYGc†UQ†AUupF ¤ wY†SY„"¨ # ˜ ¡ SG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e   F P x ”v # No Fault Radar Idle 0.5 1.5 1 0 1 2 0 1 2 0 1 2 0 1 2 150 150 150 150 150 200 200 200 200 200 250 250 250 250 250 300 300 300 300 300 350 350 350 350 350 True Estimate 400 400 a 0 |µls|(m) |µ | |µ | w 150 200 250 Time (sec) 300 350 400 400 400 400 |µ | |µ | n δ 2 |µ | e 1 0 2 100 150 200 250 300 350 |µ pm | 1 0 2 |µ | α 100 150 200 250 300 350 1 0 2 αc 100 150 200 250 300 350 | |µ 1 0 2 |µ | pb 100 150 200 250 300 350 1 0 100 150 200 250 300 350 Engine Speed Accelerometer Wheel Speed Magnetometer Radar No Fault Idle 100 |µ |(rad/s) 150 200 250 300 350 True Estimate 60 40 20 0 100 150 200 Time (sec) 250 300 ls 350 P e R ’ F R i F F a R F ’v ” ’ YUpUdpcU…GwGpF  ’ W P F i ’ x F T W gv T R YIcQQQ…UB†wXUpF i’ QYW ¢ xwQYfkc8UQhUR pF ¤ wY†SY„ ¡˜ ¡ XG‘k2 g Ty x Wd l R g e T a g s i vy W g P e ¨ F P x ”v Ty x W ‘QYd 2 |µe| 1 0 2 |µpm| 100 150 200 250 300 350 1 0 2 |µα| 100 150 200 250 300 350 1 0 2 |µα c| 100 150 200 250 300 350 1 0 100 150 200 250 300 350 2 |µpb| 1 0 Man. Pressure Engine Speed Accelerometer Wheel Speed Magnetometer Radar No Fault Idle 100 |µls|(KPa) 10 5 0 100 150 200 Time (sec) 250 300 350 150 200 250 300 True Estimate 350 100 150 200 250 300 350 P e R ’ F R F P x R R F P a iy edv ’ W g W P F i ’ x F T W gv T R F i ’ YUpUvXGXXpSQ‡wf‘QY†(0cQQQ„UB8wXUphQYW ( ¢ ¥‘QY•p†UQhU†pF ¤ “Y†SY„$¨ )˜ ¡ XG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e  (  F P x ”v Ty x W ‘QYd 2 |µe| 1 0 2 |µpm| 100 150 200 250 300 350 1 0 2 |µα| 1 0 2 |µα c| 100 150 200 250 300 350 100 150 200 250 300 350 1 0 100 150 200 250 300 350 2 |µpb| 1 0 Throttle Sen. Man. Pressure Engine Speed Accelerometer Wheel Speed Magnetometer Radar No Fault Idle 100 |µls|(deg) 4 2 0 100 150 200 Time (sec) 250 300 350 150 200 250 300 True Estimate 350 100 150 200 250 300 350 P e R ’ F Fy ” ’ W Fy T T e P D T W P F i ’ x F T W gv T R YUpUR wGYf‘XUYXGXm‡cGQQfUB†wXXpF ¤ i’ YW ¢ IwQYf¥p†UQhU2pF ¤ wY†‰Yj ¨ ¤ ˜ ¡ XG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e  F P x ”v Ty x W ‘QYd 2 |µe| 1 0 2 |µpm| 100 150 200 250 300 350 1 0 2 |µα| 100 150 200 250 300 350 1 0 2 |µα c| 100 150 200 250 300 350 1 0 100 150 200 250 300 350 2 |µpb| 1 0 Throttle Act. Throttle Sen. Man. Pressure Engine Speed Accelerometer Wheel Speed Magnetometer Radar No Fault Idle 100 |µls|(deg) 6 4 2 0 100 150 200 Time (sec) 250 300 350 True Estimate 150 200 250 300 350 100 150 200 250 300 350 ¢ Ty x Wd P e T W x T € W Fy T T e P D T W P F i ’ x F T W gv T R F i ’ ‘QYVYUBQX‚Yx‘XUYXQX‡EcGQQxUB8wXUpfQYW ¢ —‘QYGc†UQ†AUupF ¤ wY†SY„"§¢ ˜ ¡ SG‘k2 g Ty x Wd l R g e T a g s R i vy W g P e  ¨  F P x ”v 2 |µe| 1 0 2 |µpm| 50 100 150 200 250 300 350 1 0 2 |µα| 50 100 150 200 250 300 350 1 0 2 |µα c| 50 100 150 200 250 300 350 1 0 2 |µpb| 1 0 Brakes Throttle Act. Throttle Sen. Man. 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This note was uploaded on 05/24/2010 for the course MEC 7658h taught by Professor Madder during the Spring '10 term at Punjab Engineering College.

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