By Thomas Steffen
Reconfiguration, an technique for fault-tolerant keep watch over, contains altering the keep watch over constitution in keeping with the fault. This monograph extends this concept to actuator faults and reports intimately the so-called digital actuator procedure. "Control Reconfiguration of Dynamical structures" additionally introduces structural research as a device for reconfiguration. simply because a fault adjustments the constitution of the method, the reconfiguration resolution is sought on a structural point. Novel algorithms are awarded to check for reconfigurability and to discover a reconfiguration answer. A MATLAB toolbox is equipped, which incorporates the most algorithms and examples. The booklet addresses complex engineering scholars, builders and researchers that experience a particular curiosity up to speed reconfiguration.
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Extra resources for Control Reconfiguration of Dynamical Systems: Linear Approaches and Structural Tests
Sample text
3) 0 10 where w= w1 w2 is the reference input for the levels of the two tanks. The control structure is shown in Fig. 2. 74 0 y=x z = x2 . 75. 2. 4 Faults Three faults are considered: 1. 4a) 2. 4b) 3. loss of sensor y1 (sensor data not available, fill with 0 instead): y1 = 0 = x1 . 4c) Since the linearised variables are considered (without the steady state offset), a value of zero means that the variable is at its nominal level. Therefore, the two actuator faults (u1 = 0 or u2 = 0) assume that the corresponding actuator becomes stuck in the nominal position.
However, the analysis is significantly simplified, if the reconfiguration block and the faulty plant are considered together. 5 Note that this structure is chosen to provide a starting point for the automatic design of the reconfiguration block. It does not restrict the set of possible solutions to the reconfiguration problem, since theoretically any new controller can be implemented in the reconfiguration block without connection to the nominal controller. However, in order to keep the changes of the control loop to the minimum, the nominal controller should be used where appropriate.
The weak reconfiguration goal requires the output zf to reach the nominal equilibrium. This requirement corresponds to the control objective of keeping a constant level in tank xf 2 , since zf = xf 2 . As shown in Fig. 3, the nominal loop does not follow the reference value w2 exactly. There is a remaining deviation in the order of 10% of the requested change. Any reconfigured system satisfying the weak goal will have exactly the same deviation, and this guarantees that the deviation is no higher than acceptable.
