Fault-tolerant servo systems using integrators with variable limits
Fault-tolerant servo systems using integrators with variable limits
复制标题
使用具有可变限制的积分器的容错伺服系统
DOI：
10.1109/etfa.2014.7005076
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Koichi Suyama and Noboru Sebe
中科院分区：
文献类型：
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作者：
笠輪 寛明;阿久津 彗;平田 研二;Kenji HIRATA;Koichi Suyama and Noboru Sebe
对于伺服系统，还没有提出用于实现对传感器和/或致动器故障的容限的有效的控制器设计方法，因为难以处理发散信号，例如由积分器产生的斜坡信号，用于伺服性能。我们获得了在有限积分器中实现的限制函数的关键值，以有效地作为对发散信号的度量。在本文中，我们提出了具有可变限制的限制函数，以获得更好的容错性，即，用于在故障之后立即抑制正常回路中的瞬态响应的波动。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。
No effective controller design methods for achieving the tolerance against sensor and/or actuator failures have not yet been proposed for servo systems because it is difficult to deal with divergent signals such as ramp signals generated by integrators for servo performance. We obtained the key values for the limiting function implemented in limited integrators to behave effectively as a measure against divergent signals. In this paper, we propose the limiting function with variable limits for better fault-tolerance, i.e., for suppressing the fluctuation in transient responses in a normal loop immediately after failures. The obtained result succeeds in establishing the potential applicability of limited integrators to fault-tolerant servo systems.