Fault Tolerant Control of Wind Turbine with Sensor and Actuator Faults

( Ji Yeon Kim ),( In Seok Yang ),( Don Gik Lee ) 한국센서학회 2013 센서학회지 Vol.22 No.1

This paper presents a fault-tolerant control technique for wind turbine systems with sensor and actuator faults. The control objective is to maximize power production and minimize turbine loads by calculating a desired pitch angle within their limits. Any fault with a sensor and actuator can cause significant error in the pitch position of the corresponding blade. This problem may result in insufficient torque such that the power reference cannot be achieved. In this paper, a fault-tolerant control technique using a robust dynamic inversion observer and control allocation is employed to achieve successful pitch control despite these faults in the sensor and actuator. The observer based detection method is used to detect and isolate sensor faults by checking whether errors are larger than threshold values. In addition, the control allocation technique is adopted to tolerate actuator fault. Control allocation is one of the most commonly used faulttolerant control techniques, especially for over-actuated systems. Further, the control allocation method can be used to achieve the power reference even in the event of blade actuator fault by redistributing the lost torque due to erroneous pitch position into non-faulty blade actuators. The effectiveness of the proposed method is demonstrated through simulations with a benchmark model of the wind turbine.

Sliding Mode Approach for Partitioned Cost Function-based Fault-Tolerant Control of Automated Driving

Sechan Oh,Hakjoo Kim,Munjung Jang,Jongmin Lee,Kwangseok Oh,Kyongsu Yi 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

This paper presents sliding mode and partitioned cost function-based fault-tolerant controller of automated driving. A proper strategy for ensuring functional safety of autonomous vehicles is needed when there exist sensor faults in acceleration information used for longitudinal autonomous driving. The data-driven fault-tolerant control algorithm proposed in this study is based on the upper-level controller decoupled with the lower-level controller. The adaptive sliding mode observer (ASMO) using recursive least squares (RLS) for reconstruction of acceleration sensor fault signal has been designed with gradient descent method. The reconstructed fault signal has been used to compute the desired acceleration for fault-tolerant longitudinal control with the Lyapunov stability condition. In order to compute the lower-level control inputs such as acceleration and brake pedal inputs, the desired and current acceleration values have been used based on the PID control law. It is assumed that the longitudinal acceleration of the preceding vehicle can be obtained using V2V communication. The performance evaluation environment has been constructed using Matlab/Simulink and CarMaker software. The evaluation results shows that the desired acceleration can be tracked reasonably by the proposed fault-tolerant control algorithm despite of existence of fault signal in longitudinal acceleration value.

Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault

Davood Asadi,Karim Ahmadi,Seyed Yaser Nabavi 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.1

As a part of emergency landing architecture for multi-rotor, a fault-tolerant trajectory tracking control strategy is proposed in this paper to control a quadcopter in case of a partial motor fault. The introduction of fault-tolerant strategy includes a lightweight fault detection and identification algorithm and a three-loop tracking controller. The lightweight fault detection and identification algorithm identifies the fault based on the controller outputs and the angular rates calculated by a discrete extended Kalman filter. The three-loop controller comprises a cascade structure of a discrete nonlinear adaptive algorithm in the inner-loop and a PID algorithm in the outer-loops of the controller structure. To have more realistic simulations, the gyroscopic effects of rotors and the airframe drag terms are considered in modeling as the model uncertainty. The simulation results demonstrate that the proposed fault-tolerant controller can effectively control the quadcopter in presence of partial motor fault, model uncertainties, and sensor noises. The results also demonstrate the effect of fault detection time delay on the overall control performance.

Steer-By-Wire 시스템의 Fault-Tolerant 기술 개발

김재석,이운성 국민대학교 생산기술연구소 2004 공학기술논문집 Vol.27 No.-

The Steer-By-Wire (SBW) system replaces complex mechanical linkages of the current steering system with electric motors, sensors, and electronic control units. However, the SBW system should guarantee its safety before commercialization, and therefore, a reliable and robust fault-tolerant technology has to be implemented. This paper presents fault-tolerant control strategy for a reliable and safe SBW system and proposes a fault-tolerant SBW control system integrating SBW control algorithms, fault-detection algorithms, and reconfiguration algorithms. Based on careful analysis on propagation effects of sensor faults, a reliable fault-tolerant control strategy has been developed. The fault-tolerant controller consists of a fault detection part that monitors and defects faults in the steering wheel and road wheel sensors, and a reconfiguration part that switches to normal sensor signal based on fault detection information. It has been demonstrated that the proposed algorithm detects sensor faults accurately and enables reliable steering control under various dynamic fault situations.

Research of Adaptive Fault-Tolerant Control based on T-S Fuzzy Model for EMB System

Yi-Nan Xi 호서대학교 공업기술연구소 2014 공업기술연구 논문집 Vol.33 No.1

In the electro mechanical brake (EMB) system, an improvement of the fault-tolerant control, like invalid protecticais of sensors and electric systems are the key problems to the development of electric vehicles. The adaptive fault-tolerant control in this paper is focus on the descriptor nonlinear system A^iich contains double time-delays and parameter uncertainties. In fault detection and estimatic»i, cxmstruct the controlled system model wliich contains multi-sensor, double time-delays and parameter uncertainties based on T-S fuzzy model, then design the observer to realize fault detection and estimation in real-time. In building the fault-tolerant control model, the first step is to choose an appropriate sliding surface, and combine the algorithm of sliding control with adaptive generic model control. Then apply the state observer to the designed sliding adaptive generic model, and build the decision model with dynamic fault reconfiguration. And the goal of this paper about the adaptive robust fault-tolerant control for the complex nonlinear controller system is achieved. Numerical SIMULINK simulation examples are given to illustrate the application and the effectiveness of the proposed design method.

직접토크제어 유도전동기의 센서 이상허용 제어

류지수,이기상 전력전자학회 2002 전력전자학회 논문지 Vol.7 No.4

A sensor fault detection and isolation scheme(SFDIS) is adopted to improve the reliability of direct torque controlled induction motor drives and the experimental results are discussed. Major contributions include: experimental analysis of a few important sensor faults, design and implementation of the proposed SFDIS, and the fault tolerant control system(FTCS). Although the adopted SFDIS employs only one observer for residual generation, the system has the function of fault isolation that only multiple observer schemes can have. To verify the performance of the proposed scheme, the speed control system is designed for the 2.2kW direct torque controlled induction motor. Hardware of the control system consists of a control board using TMS320VC33 and a power stack using IPM. Experimental results for various type of sensor faults show the effectiveness of the SFDIS and the FTCS. 본 논문에서는 직접토크제어 유도전동기 구동시스템의 고 신뢰성 운전을 위한 센서이상 검출식별 및 이상허용제어에 관한 실험적 연구 결과를 기술한다. 주요 내용은 센서이상 해석 결과의 실험적 검증과 이상검출식별 시스템의 설계, 이상허용제어기의 구현 및 실험적 성능 고찰이다. 적용된 센서이상 검출식별기법은 관측기기반 기법이며 기존의 다중 관측기 기법과 달리 한 개의 관측기에 의해 검출식별정보를 발생하므로 실시간 적용이 용이하다. 제안된 시스템의 성능을 검증하기 위하여 2.2kW 유도전동기를 대상으로 직접토크제어 기법을 이용한 속도제어시스템을 설계하였다. 이상허용제어를 위한 시스템의 하드웨어는 고성능 DSP인 TMS320VC33을 이용한 제어보드와 IPM을 이용한 전력회로로 구성된다. 다양한 센서이상에 대한 실험결과, 설계된 시스템의 검출식별 및 이상허용 제어 성능이 매우 우수함을 확인하였다.

Active Fault Tolerant Control Scheme for Satellite Attitude Systems: Multiple Actuator Faults Case

Zhi-Feng Gao,Zepeng Zhou,Guoping Jiang,Mo-Shu Qian,Jin-Xing Lin 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

In this paper, an active fault tolerant control (FTC) design approach is proposed for the satellite attitude systems with exogenous disturbance and multiple actuator faults. Firstly, the nonlinear attitude system model of rigid satellite with multiple actuator faults is given. Next, an actuator fault diagnosis scheme, including a fault detection module and a fault estimation module, is given so as to detect the time of unknown actuator faults occurred and obtain their estimation values. Then, a terminal sliding mode-based fault tolerant attitude controller is designed using backstepping control technique, which guarantees that the closed-loop attitude systems of rigid satellite are asymptotically stable in the presence of multiple actuator faults. Numerical simulations illustrate the good performance of active FTC proposed in this study.

Fault-Tolerant Control of Dual Three-Phase PMSM Based on Minimum Copper Loss Under Multi-Phase Open and Open-Switch Faults

Yan Xunzhi,Ai Sheng,Li Chushan,Mei Dan 대한전기학회 2024 Journal of Electrical Engineering & Technology Vol.19 No.5

In this paper, a fault-tolerant control strategy with minimum copper loss is proposed for open phase faults (single-phase faults and two-phase faults) and switch faults (open-switch faults) of dual three-phase permanent magnet synchronous motors (DTP-PMSM). In the traditional minimum copper loss control scheme, the sinusoidal current constraint will cause the copper loss to fail to reach the minimum target. In this paper, the corresponding VSD coordinate transformation matrix under diff erent open phase faults is derived. Secondly, based on the copper loss formula, the minimum copper loss and its corresponding non-sinusoidal current constraint are derived theoretically and the fault-tolerant control of DTP-PMSM with isolated neutral point is realized. Aiming at the switch fault, the fault-tolerant control of the switch fault is realized by making full use of the remaining healthy switch of the faulty inverter. Finally, the simulation proves that the proposed control strategy has lower copper loss than the existing control strategy.

Fault Tolerant Control for an Unmanned Surface Vessel Based on Integral Sliding Mode State Feedback Control

Xiu-Ning Yu,Li-Ying Hao,Xiao-Lei Wang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.8

In the complex ocean environment, the thruster faults may affect the stability of unmanned surface vessel (USV). So it is really important to study the problem of USV fault tolerant control. Under the framework of integral sliding mode technology, this work presents a fault tolerant control problem for USV. First, a comprehensive thruster fault model with total faults, partial faults, hard-over faults, bias faults, and time-varying stuck faults, is established. Then, an integral sliding mode surface and sliding mode controller with fault estimation are designed. Through LMI technology and Lyapunov stability theory, the stability of sliding mode has been proved. Compared with the existing results, the oscillation amplitudes of yaw angle and yaw velocity can be suppressed from the every beginning. Finally, simulation results demonstrate that the proposed integral sliding mode fault tolerant control algorithm is effective.

Fault-Tolerant Control for 5L-HNPC Inverter-Fed Induction Motor Drives with Finite Control Set Model Predictive Control Based on Hierarchical Optimization

Li, Chunjie,Wang, Guifeng,Li, Fei,Li, Hongmei,Xia, Zhenglong,Liu, Zhan The Korean Institute of Power Electronics 2019 JOURNAL OF POWER ELECTRONICS Vol.19 No.4

This paper proposes a fault-tolerant control strategy with finite control set model predictive control (FCS-MPC) based on hierarchical optimization for five-level H-bridge neutral-point-clamped (5L-HNPC) inverter-fed induction motor drives. Fault-tolerant operation is analyzed, and the fault-tolerant control algorithm is improved. Adopting FCS-MPC based on hierarchical optimization, where the voltage is used as the controlled objective, called model predictive voltage control (MPVC), the postfault controller is simplified as a two layer control. The first layer is the voltage jump limit, and the second layer is the voltage following control, which adopts the optimal control strategy to ensure the current following performance and uniqueness of the optimal solution. Finally, simulation and experimental results verify that 5L-HNPC inverter-fed induction motor drives have strong fault tolerant capability and that the FCS-MPVC based on hierarchical optimization is feasible.