Fault-tolerant servo systems against actuator failures using limited integrators
Fault-tolerant servo systems against actuator failures using limited integrators
复制标题
使用有限积分器防止执行器故障的容错伺服系统
DOI：
10.1109/iecon.2013.6699697
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Koichi Suyama
中科院分区：
文献类型：
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作者：
古澤亮; 浅井哲也; 大石潔; 真島勝行; 景山晃一; 高津勝; 漆原史朗;Koichi Suyama
一个有效的控制器设计，实现对执行器故障的公差尚未提出伺服系统，因为它是很难处理的发散信号产生的积分器的伺服性能。在这项研究中，我们获得了第一次的关键值的限制功能有限的积分有效地表现为对发散信号的措施。然后，限制功能和控制器可以设计在一个统一的框架，同时优化考虑在正常情况下，在故障情况下的伺服性能。所得到的结果成功地建立了潜在的适用性有限积分器的容错伺服系统。
An effective controller design for achieving the tolerance against actuator failures has not yet been proposed for servo systems because it is difficult to deal with divergent signals generated by integrators for servo performance. In this study, we obtain for the first time key values for the limiting function in limited integrators to behave effectively as a measure against divergent signals. Then, the limiting function and a controller can be designed in a unified framework of simultaneous optimization with consideration given to the servo performance in the normal case and in faulty cases. The obtained result succeeds in establishing the potential applicability of limited integrators to fault-tolerant servo systems.