共查询到20条相似文献，搜索用时 218 毫秒
1.
Advanced fault detection and accommodation schemes are required for ensuring efficient and reliable operation of modern wind turbines. This paper presents a novel approach in designing a fault detection and diagnosis (FDD) and fault-tolerant control (FTC) scheme for a wind turbine using fuzzy modeling, identification and control techniques. First, an improved gain-scheduled proportional-integral (PI) control system based on fuzzy gain scheduling (FGS) technique for multi-input and multi-output wind turbine system is designed. Then, to accommodate sensor faults and based on a signal correction algorithm, an active fault-tolerant control system (AFTCS) is developed as an extension of the gain-scheduled PI control system. The AFTCS exploits the fault information from a model-based FDD scheme developed using fuzzy modeling and identification method. The proposed schemes are evaluated by a series of simulations on a well-known large off-shore wind turbine benchmark in the presence of wind turbulences, measurement noises, and different realistic fault scenarios. All results indicate high effectiveness and robustness of the designed control systems in both fault-free and faulty operations of the wind turbine. 相似文献
2.
《Journal of The Franklin Institute》2023,360(4):2678-2701
In this work, we developed a novel active fault-tolerant control (FTC) design scheme for a class of nonlinear dynamic systems subjected simultaneously to modelling imperfections, parametric uncertainties and sensor faults. Modelling imperfections and parametric uncertainties are dealt with using an adaptive radial basis function neural network (RBFNN) that estimates the uncertain part of the system dynamics. For sensor fault estimation (FE), a nonlinear observer based on the estimated dynamics is designed. A scheme to estimate sensor faults in real-time using the nonlinear observer and an additional RBFNN is developed. The convergence properties of the RBFNN, used in the fault FE part, are improved by using a sliding surface function. For FTC design, a sliding surface is designed that incorporates the real-time sensor FE. The resulting sliding mode control (SMC) technique-based FTC law uses the estimated dynamics and real-time sensor FE. A double power-reaching law is adopted to design the switching part of the control law to improve the convergence and mitigate the chattering associated with the SMC. The FTC works well in the presence and absence of sensor faults without the requirement for controller reconfiguration. The stability of the proposed active FTC law is proved using the Lyapunov method. The developed scheme is implemented on a nonlinear simulation of an unmanned aerial vehicle (UAV). The results show good performance of the proposed unified FE and the FTC framework. 相似文献
3.
Shanzhi Li Haoping Wang Abdel Aitouche Nicolai Christov 《Journal of The Franklin Institute》2018,355(16):8194-8212
This paper presents an active fault tolerant control (FTC) for doubly fed induction generator (DFIG) with actuator fault and disturbance using Takagi–Sugeno (TS) fuzzy model. The control structure has two parts: fault and disturbance estimation part and FTC part. First, a TS fuzzy model is used to describe the DFIG system. Using a special linear transformation, the original system is decoupled into three independent subsystems: state subsystem without fault and disturbance, disturbance subsystem without fault, and fault subsystem without disturbance. By solving linear matrix inequalities (LMIs), a TS fuzzy observer is designed for the state subsystem without fault and disturbance. Second, estimations of faults and disturbance are obtained using the other subsystem models. Third, an active FTC scheme is developed to reduce the effect of disturbance and actuator faults. Finally, the performance of the proposed FTC is tested for a wind turbine system based on DFIG with actuator faults and disturbance. The simulation results demonstrate that the new FTC scheme makes possible to obtain an efficient fault and disturbance estimation and to reduce the peak current in the transient process. 相似文献
4.
5.
《Journal of The Franklin Institute》2023,360(2):862-886
In this paper, a learning-based active fault-tolerant control (FTC) scheme for robot manipulators with uncertainties and actuator faults is proposed. Unlike traditional FTC methods, with dynamic learning theory, both uncertainties and actuator faults can be accurately identified/learned by radial basis function networks. Based on the learned knowledge, dynamical classifiers and experience-based controllers corresponding to different fault modes are constructed. With the help of dynamical classifiers, fault detection and isolation can be obtained rapidly and accurately, and the correct experience-based controller (instead of the controller reconfigured online) corresponding to the current fault system is selected to compensate for faults, and superior control performance is achieved, even in the presence of faults. The simulation studies demonstrate the feasibility of the proposed FTC method. 相似文献
6.
Yujia Wang Tong Wang Xuebo Yang Jiae Yang Feihu Jin 《Journal of The Franklin Institute》2021,358(9):4705-4720
This paper investigates a novel strategy which can address the fault-tolerant control (FTC) problem for nonlinear strict-feedback systems containing actuator saturation, unknown external disturbances, and faults related to actuators and components. In such method, the unknown dynamics including faults and disturbances are approximated by resorting to Neural-Networks (NNs) technique. Meanwhile, a back-stepping technique is employed to build a fault-tolerant controller. It should be stressed that the main advantage of this strategy is that the NN weights are updated online based on gradient descent (GD) algorithm by minimizing the cost function with respect to NNs approximation error rather than regarding weights as adaptive parameters, which are designed according to Lyapunov theory. In addition, the convergence proof of NN weights and the stability proof of the proposed FTC method are given. Finally, simulation is performed to demonstrate the effectiveness of the proposed strategy in dealing with unknown external disturbances, actuator saturation and the faults related to the components and actuators, simultaneously. 相似文献
7.
《Journal of The Franklin Institute》2022,359(16):9129-9167
In this paper, we investigate the use of Model Predictive Control (MPC) applications for quasi-Linear Parameter Varying (qLPV) systems subject to faults along the input channels. We propose a Fault Tolerant Control (FTC) mechanism based on a robust state-feedback MPC synthesis, considering polytopic inclusions. In order to alleviate the numerical burden of the robust min-max procedure, we use small prediction horizons, in such a way that the solution becomes viable for real-time systems. The FTC system is able to tolerate time-varying saturation of the actuator, which may happen due to malfunctions. Recursive feasibility and poly-quadratic stability guarantees are ensured through the synthesis of adequate terminal ingredients. Accordingly, we present a catalogue of three different LMI remedies, considering: (a) parameter-independent ingredients, (b) a parameter-dependent terms and (c) a parameter-dependent maps that take into account bounded rates of parameter variation. An autonomous driving car example is used to illustrate the performances of the proposed technique, which is compared to other MPCs from the literature. The proposed FTC method is able to ensure good performances, obtained with reduced computational demand. 相似文献
8.
《Journal of The Franklin Institute》2023,360(12):8339-8362
This paper addresses the problem of controlling a wave energy converter (WEC) susceptible to faults in its braking subsystems, characterized through nonlinear damping. By considering the necessity of robust trajectory tracking related to the sea waves for maximizing the converted energy, one aims to preserve such a trajectory in the presence of faults to avoid physical damage in the structure of the WEC. To achieve this objective, this paper proposes a fault-tolerant control (FTC) that combines two systems: (i) a novel nonlinear servocompensator (NSC) and (ii) a fault diagnosis subsystem (FD). The NSC is based on a variable structure control that generalizes the internal model principle for robust tracking. The reference signal is computed from real-time measurements of the irregular sea waves. The FD subsystem estimates the faults related to the wear of the brakes via an unknown input observer. Due to its independent performance from the FD, the global scheme can be considered as a passive FTC. By considering the faulty model of a WEC based on the Archimedes wave swing prototype, theoretical formulation and the convergence proof are given for the NSC and the FD. The performance of the proposed design is verified with numerical simulations of the WEC with the incidence of irregular sea waves under different fault scenarios in the upper and lower brakes. 相似文献
9.
Xuan Liu Ding Zhai Jiuxiang Dong Qingling Zhang 《Journal of The Franklin Institute》2018,355(1):273-290
In this paper, the problem of adaptive fuzzy fault-tolerant control is investigated for a class of switched uncertain pure-feedback nonlinear systems under arbitrary switching. The considered actuator failures are modeled as both lock-in-place and loss of effectiveness. By utilizing mean value theorem, the considered pure-feedback systems are transformed into a class of switched nonlinear strict-feedback systems. Under the framework of backstepping design technique and common Lyapunov function (CLF), an adaptive fuzzy fault-tolerant control (FTC) method with predefined performance bounds is developed. It is proved that under the proposed controller, all the signals of the close-loop systems are bounded and the state tracking error for each step remains within the prescribed performance bound (PPB) regardless of actuator faults and the system switchings. In addition, the tracking errors and magnitudes of control inputs can be reduced by adjusting the PPB parameters of errors in the first and last steps. The simulation results are provided to show the effectiveness of the proposed control scheme. 相似文献
10.
This paper deals with the fault tolerant control (FTC) design for a Vertical Takeoff and Landing (VTOL) aircraft subject to external disturbances and actuator faults. The aim is to synthesize a fault tolerant controller ensuring trajectory tracking for the nonlinear uncertain system represented by a Takagi–Sugeno (T–S) model. In order to design the FTC law, a proportional integral observer (PIO) is adopted which estimate both of the faults and the faulty system states. Based on the Lyapunov theory and ?2 optimization, the trajectory tracking performance and the stability of the closed loop system are analyzed. Sufficient conditions are obtained in terms of linear matrix inequalities (LMI). Simulation results show that the proposed controller is robust with respect to uncertainties on the mechanical parameters that characterize the model and secures global convergence. 相似文献
11.
Model-based fault detection and isolation (FDI) requires an analytical system model from which fault indicators can be derived by assigning proper computational causalities. Many bond graph (BG) model-based techniques for FDI have been developed in recent past. Furthermore, many other advances have been made in the field of control engineering applications of BG modelling. Supervision systems not only perform FDI, but also take the necessary steps for fault accommodation. Fault accommodation is done either through system reconfiguration or through fault tolerant control (FTC). In this paper, it is shown that bicausal BG modelling proves to be a unified approach for sensor placement from the FDI and FTC viewpoint, identification of hardware redundancies for system reconfiguration, generation of fault indicators, estimation of fault parameters for fault accommodation, inversion of systems and actuator sizing for FTC, etc. It is shown that the use of bicausalled BG helps to integrate many of the recently developed advances made in the field of control engineering into development of complex supervision systems. 相似文献
12.
《Journal of The Franklin Institute》2022,359(11):5458-5487
In this paper, a novel fast attitude adaptive fault-tolerant control (FTC) scheme based on adaptive neural network and command filter is presented for the hypersonic reentry vehicles (HRV) with complex uncertainties which contain parameter uncertainties, un-modeled dynamics, actuator faults, and external disturbances. To improve the performance of closed-loop FTC, command filter and neural network are introduced to reconstruct system nonlinearities that are related to complex uncertainties. Compared with the FTC scheme with only neural network, the FTC scheme with command filter and neural network has fewer controller design parameters so that the computational complexity is decreased and the control efficiency is improved, which is of great significance for HRV. Then, the adaptive backstepping fault-tolerant controller based on command filter and neural network is designed, which can solve the complexity explosion problem in the standard backstepping control and the small uncertainty problem in the backstepping control only containing command filter. Moreover, to improve the approximation accuracy of the neural network-based universal approximator, an adaptive update law of neural network weights is designed by using the convex optimization technique. It is proved that the presented FTC scheme can ensure that the closed-loop control system is stable and the tracking errors are convergent. Finally, simulation results are carried out to verify the superiority and effectiveness of the presented FTC scheme. 相似文献
13.
Maziar Ebrahimi Dehshalie Mohammad B. Menhaj Mehdi Karrari 《Journal of The Franklin Institute》2019,356(3):1360-1378
The goal of this paper is to propose an optimal fault tolerant control (FTC) approach for multi-agent systems (MASs). It is assumed that the agents have identical affine dynamics. The underlying communication topology is assumed to be a directed graph. The concepts of both inverse optimality and partial stability are further employed for designing the control law fully developed in the paper. Firstly, the optimal FTC problem for linear MASs is formulated and then it is extended to MASs with affine nonlinear dynamics. To solve the Hamilton-Jacobi-Bellman (HJB) equation, an Off-policy Reinforcement Learning is used to learn the optimal control law for each agent. Finally, a couple of numerical examples are provided to demonstrate the effectiveness of the proposed scheme. 相似文献
14.
In this paper, an observer-based fault-tolerant control (FTC) method is proposed for a class of networked control systems (NCSs) with transfer delays. Markov chain is employed to characterize the transfer delays. Then, such kind of networked control systems are modelled as Markovian jump systems. An observer-based FTC scheme using the delayed state information and the estimated fault value is presented to guarantee the stability of the faulty systems. An inverted pendulum example is used to illustrate the efficiency of the proposed method. 相似文献
15.
《Journal of The Franklin Institute》2021,358(17):9221-9242
This paper studies the distributed fault-tolerant control (FTC) problem for heterogeneous nonlinear multi-agent systems (MASs) under sampled intermittent communications. First, in order to estimate the state of leader under sampled intermittent communications, the distributed intermittent observer for each follower is constructed. By using the tool from switching system theory, the estimation error converges to zero exponentially if the communication rate is larger than a threshold value even under the impact of sampled intermittent communications. Then, by applying model reference adaptive tracking technique, a robust FTC protocol is developed to track the distributed intermittent observer. Two algorithms are presented to choose the feedback gain of the distributed intermittent observer and the tracking feedback gain of the fault-tolerant tracking controller. It is proved that the global consensus tracking error is bounded under the developed distributed control protocol. Finally, an example with the coupled pendulums is provided to verify the efficiency of the designed method. 相似文献
16.
In this brief, a switching fault-tolerant control (FTC) scheme is presented for a moving vehicle-mounted flexible manipulator subject to state constraints. The dynamic characteristics of the system are represented by coupled ordinary differential equations and partial differential equations (ODEs–PDEs). When actuators are healthy, vibration control and position regulations can be realized without violation of the given constraints based on a Barrier Lyapunov Function (BLF). Moreover, a switching strategy is introduced to prevent the transgression of constraints even under actuator failure by detecting actuator faults as-assisted by the proposed monitoring functions. The closed-loop states are kept within the given bounds under FTC laws. By extending LaSalle's Invariance Principle to an infinite dimension, the asymptotic stability of the fault-free closed-loop system is strictly verified. Simulation results demonstrate the effectiveness of the proposed approach. 相似文献
17.
18.
In this paper, a decentralized asymptotic fault tolerant control system is proposed for near space vehicle (NSV) attitude dynamics. First, NSV reentry mode is described, and the actuator failure model is developed whose behavior is described by high-order dynamics. Next, the multi-model based fault diagnosis and identification (FDI) algorithm is proposed for high order actuator dynamics, which can accurately diagnose and identify the fault in short time. Based on sliding mode, command filter, and backstepping technique, using information of FDI, a constrained fault tolerant control (FTC) is designed for reentry NSV. Finally, simulation results are given to demonstrate the effectiveness and potential of the proposed FTC scheme. 相似文献
19.
20.
《Journal of The Franklin Institute》2019,356(13):7112-7143
This paper addresses the problem of robust integrated fault estimation (FE) and fault-tolerant control (FTC) for a class of discrete-time networked Takagi–Sugeno (T–S) fuzzy systems with two-channel event-triggered schemes, input quantization and incomplete measurements. The incomplete information under consideration includes randomly occurring sensor saturation and randomly occurring quantization. In order to save the limited networked resources, this paper firstly proposed a novel dynamic event-triggered scheme on the sensor side and a static one on the controller side. Secondly, an event-triggered FE observer for the T–S fuzzy model is designed to estimate actuator faults and system states, simultaneously. Then, a specified discrete sliding surface in the state-estimation space is constructed. By using time-delay analysis technique and considering the effects of event-triggered scheme, quantization, networked conditions, actuator fault and external disturbance, the sliding mode dynamics and error dynamics are unified into a new networked time-delay model. Based on this model, sufficient conditions are established such that the resulting augmented fuzzy system is stochastically stable with a prescribed H∞ performance level with a single-step linear matrix inequality (LMI) formulation. Furthermore, an observer-based sliding mode controller for reaching motion is synthesized to guarantee the reachability of the sliding surface. Finally, a single-link flexible manipulator example is present to illustrate the effectiveness of the proposed method. 相似文献