Simultaneous control reconfiguration of systems with non-isolable actuator failures
Simultaneous control reconfiguration of systems with non-isolable actuator failures
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DOI：
10.1109/acc.2016.7526864
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Daniel Vey;Kai Schenk;J. Lunze
中科院分区：
文献类型：
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作者：
Daniel Vey;Kai Schenk;J. Lunze
针对执行器失效的线性系统，提出了一种集成主动容错控制方法。该方法结合了一个银行的观察员诊断与虚拟执行器的方法来重构。通常，在文献中，FTC的两个步骤被单独考虑，并且重构单元假设可以获得明确的诊断结果。本文研究了诊断和重构单元的结合。对诊断单元的分析表明，发生故障的执行器并不总是能够被完美地隔离。因此，提出了一种解决非隔离执行器故障情况下重构问题的方法。该解决方案是由一个共同的虚拟致动器，重新配置的非隔离致动器故障同时，而不是简单地关闭所有的。它示出，共同的虚拟执行器总是存在的执行器故障，不能隔离的诊断单元。建议的综合FTC的方法说明了应用程序的octorotors。
This paper presents an integrated active fault-tolerant control (FTC) approach for linear systems subject to actuator failures. The proposed method combines a bank of observers for diagnosis with the virtual actuator approach to reconfiguration. Usually, the two steps of FTC are considered separately in literature and the reconfiguration unit assumes that an unambiguous diagnosis result is available. This paper investigates the combination of the diagnosis and the reconfiguration unit. An analysis of the diagnosis unit shows that the failed actuator cannot always be isolated perfectly. Therefore, a method that solves the reconfiguration problem in cases of non-isolable actuator failures is presented. The solution is given by a common virtual actuator that reconfigures the non-isolable actuator failures simultaneously, without simply switching off all of them. It is shown that the common virtual actuator always exists for actuator failures that cannot be isolated by the diagnosis unit. The proposed integrated FTC approach is illustrated by an application to octorotors.