Design and implementation of electronic power steering controller system with TMR fault tolerance

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Scherer Balázs Attila
Department of Measurement and Information Systems

The aim of the thesis is to design and build a steering system which is based on a triple

modular redundancy. The redundancy is realized by three parallel connected 32-bit microcontroller.

The outputs coming from the micrcontrollers are analysed by a voter. The voter

decides with majority vote whether the signals are identical, so if the system is operable.

The first scope of the thesis is, if a redundant system made of microcontrollers with lower

safety qualification is operable, or the voter brings some delay to the system, which reduces

the performance of the controller loop in a significant way. The second scope is to decide

if it worth to further examine such a redundant architecture.

The topic of the thesis is given by thyssenkrupp Presta Hungary Kft. They made Gergely

Ferenczy’s [1] thesis available for me which was a base for my own research.

My task is to design a software which realize the motor control algorithm and the

necessary diagnostics, and to design and build a voter. My further task is to tune this

system, and after all to work out the necessary tests to verify the correct operation of the

whole system.

In the introduction I give a short summary about the evolution of automotive electronics.

In the second chapter I examine the applied safety critical recommendations, processes,

with a special look at different fault tolerant architechtures, at ISO 26262 and MISRA C


In the third chapter I look into the operation and construction of the electronic steering


In the fourth chapter I give a short presentation about the work of Gergely Ferenczy,

especially about the topics which I will use in my research.

In the fifth chapter I present the procedure of the design, the handling of the requirements,

the forming of the architecture, and the questions and answers which were raised

during the development.

In the sixth chapter I explain the realization and its details.

In the seventh chapter I intruduce the testing of the system.

In the eight and nineth chapter I summarize the development and take a look at further

possibilities of improvements.


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