Advanced Control of Dual Redundant Electro-Hydrostatic Actuator

双冗余电液静压执行器的先进控制

• 批准号: RGPIN-2015-04895
• 负责人: Habibi, Saeid
• 金额: $ 2.48万
• 依托单位: McMaster University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=685168
• 关键词: Advanced; Control; Dual; Redundant; Electro

Condition monitoring and fault tolerance are increasingly important and are becoming essential elements of next generation computerized systems. Next generation of products, such as future electric cars and aircraft, will more heavily rely on these concepts for their safety and reliability. This proposal makes three new related contributions that are: a new robust optimal filter as an integral element of model-based condition monitoring; use of this filter in a new form of fault tolerant control; and the application of these methods to a novel Electro-Hydrostatic Actuation System.****The new filter will be based on the Smooth Variable Structure Filter (SVSF) theory developed by the applicant. The SVSF is a robust filter that can be used for state and parameter estimation. It has features that are uniquely suitable for condition monitoring compared to other strategies such as the Kalman Filter; it can better accommodate uncertainties in the system that is being monitored both in terms of its performance and its stability. The SVSF uses the 1st order sliding mode condition to achieve robust stability and in its original form is not optimal. Under this proposal, a 2nd order SVSF based on the 2nd order sliding mode condition will be formulated with the objective of obtaining a filter that is both robust and optimal. This will constitute a substantive theoretical contribution to the field of filtering. ****In general, real-world systems behave according to a number of different operating regimes (or modes). A strategy that can track mode changes in dynamic systems is the Interacting Multiple Model (IMM) concept. As part of its implementation, the IMM requires a filtering strategy. In this research, the 2nd order SVSF will be combined with IMM to track changes and hence fault conditions as part of an enhanced condition monitoring strategy. A closed loop control strategy will then be developed with a feedforward compensation term that is updated according to the system's mode of operation as identified by the IMM, as a new form of fault tolerant control.***These condition monitoring and control strategies will be applied and validated by using a new actuation system referred to as the Dual Redundant Electro-Hydrostatic Actuator (EHA). This actuator has the ability to mechanically reconfigure itself for fault tolerance and failure prevention by using custom designed components. The prototype of this system is in itself a novel contribution to the fluid power industry.**

状态监测和容错越来越重要，并正在成为下一代计算机化系统的基本要素。下一代产品，如未来的电动汽车和飞机，将在安全和可靠性方面更多地依赖这些概念。该建议提出了三个新的相关贡献：一种新的稳健最优滤波器作为基于模型的状态监测的组成部分；该滤波器在一种新的容错控制形式中的应用；以及将这些方法应用于一种新型的电液静压执行系统。*该新滤波器将基于申请人开发的平滑变结构滤波器(SVSF)理论。SVSF是一种稳健的滤波器，可用于状态和参数估计。与卡尔曼滤波等其他策略相比，它具有独特的适合于状态监测的功能；它可以更好地适应被监测系统中的不确定性，无论是在性能方面还是在稳定性方面。SVSF使用一阶滑模条件来实现鲁棒稳定，其原始形式并不是最优的。在该方案下，将建立基于二阶滑模条件的二阶SVSF，以获得既稳健又最优的滤波器为目标。这将对过滤领域构成实质性的理论贡献。*通常，真实世界的系统根据许多不同的操作制度(或模式)运行。一种可以跟踪动态系统中的模式变化的策略是交互多模型(IMM)概念。作为其实施的一部分，IMM需要一个过滤策略。在这项研究中，二阶SVSF将与IMM相结合来跟踪变化，从而跟踪故障状况，作为增强的状况监测策略的一部分。然后，将开发具有前馈补偿项的闭环控制策略，作为一种新的容错控制形式，该前馈补偿项根据IMM确定的系统的操作模式进行更新。*这些状态监测和控制策略将通过使用称为双冗余电液静压执行器(EHA)的新的执行系统来应用和验证。通过使用定制设计的组件，该执行器具有机械重新配置自身的能力，以实现容错和故障预防。该系统的原型本身就是对流体动力行业的新贡献。**