Realization and Systematization of Fault Tolerance in Control System

控制系统容错的实现及系统化

• 批准号: 13650483
• 负责人: SUZUKI Tatsuya
• 金额: $ 2.3万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650483/
• 关键词: Unmanned reentry space vehicle; Fault Detection; Motor drive system; Automated highway vehicle; ロバスト制御; 故障検出器

In this research project, the investigator has addressed the following two problems to improve the reliability of the control system (1)Design of fail-safe control system, and (2)Fault detection in control system. The first problem has been formulated as the simultaneous stabilization problem for healthy and faulty plants. The proposed design framework has been applied to the lateral control of the automated highway vehicle in the case that the sensor to detect the lateral position is suddenly broken, and the posture control of the unmanned reentry space vehicle in the case that one of the elevon get jammed. The obtained results show great performance on the tolerance against the system failure, and those vehicle can keep working after those failures. The second problem has been formulated as the joint design of the fault detector and the controller based on the parameterization technique of the stabilizing controller. The proposed design framework has been applied to the motor drive control system in the case that some power transistor is broken. In this case, unexpected torque ripple appear on the torque signal, and this ripple is detected and suppressed by applying the proposed design framework. Also, the introduction of the FFT analysis technique enabled us to isolated various types of faults. These results have been verified through some experimental results and/or simulations based on real-world parameters. These achievements have been published in five journal papers and ten conference papers. The investigators group has won two best presentation awards.

为了提高控制系统的可靠性，在本研究项目中，研究者解决了以下两个问题：(1)故障安全控制系统的设计；(2)控制系统的故障检测。第一个问题被表述为健康和故障工厂的同时稳定问题。所提出的设计框架已应用于自动公路车辆横向位置检测传感器突然损坏情况下的横向控制，以及无人再入空间飞行器副翼被卡住情况下的姿态控制。结果表明，该系统对故障的容忍度较高，车辆在故障后仍能正常工作。第二个问题是基于稳定控制器参数化技术的故障检测器和控制器的联合设计。该设计框架已应用于某功率晶体管损坏情况下的电机驱动控制系统。在这种情况下，转矩信号上出现了意想不到的转矩脉动，利用所提出的设计框架检测并抑制了这种脉动。此外，FFT分析技术的引入使我们能够隔离各种类型的故障。这些结果已经通过一些实验结果和/或基于现实世界参数的模拟进行了验证。这些成果已在5篇期刊论文和10篇会议论文上发表。调查小组获得了两项最佳演讲奖。

项目成果

E.Konaka, T.Suzuki, S.Okuma: "Safety Verification of Material Handling Systems Driven by Programmable Logic Controller -Consideration of Physical Behavior of Plants-"IEICE Trans. on Fundamentals. (to appear).

E.Konaka、T.Suzuki、S.Okuma：“可编程逻辑控制器驱动的物料搬运系统的安全验证 - 植物物理行为的考虑 -”IEICE Trans。

中村 久栄, 鈴木 達也, 大熊 繁: "フォールトトレランスを有する電動機駆動系の実現〜オブザーバとFFTの組み合わせによる制御、故障検出および分離〜"高速信号処理応用技術学会誌. Vol.5. 25-31 (2002)

Hisae Nakamura、Tatsuya Suzuki、Shigeru Okuma：“容错电动机驱动系统的实现——使用观测器和 FFT 组合进行控制、故障检测和隔离——”高速信号处理与应用技术学会杂志5. 25-31 卷（2002 年）

S.Suryanarayanan, T.Suzuki, M.Tomizuka: "Fault Tolerant Lateral Control of Automated Vehicles based on Simultaneous Stabilization"Proc. of IFAC Mechatronics. 899-904 (2000)

S.Suryanarayanan、T.Suzuki、M.Tomizuka：“基于同步稳定的自动车辆容错横向控制”Proc。

S.Suryana., M.Tomizuka, T.Suzuki: "Design of Simultaneously Stabilizing Controllers and its Application to Fault Tolerant Lane-keeping Controller Design for Automated Vehicles"IEEE Trans. on Control Systems Technology. (to appear).

S.Suryana.、M.Tomizuka、T.Suzuki：“同时稳定控制器的设计及其在自动车辆容错车道保持控制器设计中的应用”IEEE Trans。

H.Komatsu, T.Suzuki, S.Okuma: "Switching of H_∞ Controller under existence of Constraints on State Variables"Proc. of IEEE International Conference on Industrial Electronics, control and Instrumentation. 1686-1691 (2001)

H.Komatsu、T.Suzuki、S.Okuma：“状态变量约束下 H_∞ 控制器的切换”Proc. IEEE 国际工业电子、控制和仪表会议 1686-1691 (2001)。