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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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Partial and total actuator faults accommodation for input-affine nonlinear process plants.

Amin Mihankhah¹, Farzad R Salmasi, Karim Salahshoor

¹Control & Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, North Kargar St., P.O. Box 14395/515, Tehran, Iran. amin.mihankhah@gmail.com

ISA Transactions

|February 5, 2013

Summary

A new fault-tolerant control system using Model Reference Adaptive System (MRAS) structure accommodates actuator failures and disturbances without a fault detection unit. This robust system enhances nonlinear plant control performance.

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Area of Science:

Control Engineering
Nonlinear Systems
Adaptive Control

Background:

Actuator failures and external disturbances pose significant challenges in controlling nonlinear systems.
Existing fault-tolerant control strategies often require complex fault detection and diagnosis (FDD) units.
Model Reference Adaptive System (MRAS) structures offer a framework for adaptive control but require enhancements for fault tolerance.

Purpose of the Study:

To propose a novel fault-tolerant control system for input-affine nonlinear plants.
To enhance the robustness of Model Reference Adaptive System (MRAS) based controllers against actuator failures and external disturbances.
To develop a control strategy that does not necessitate a separate Fault Detection and Diagnosis (FDD) unit.

Main Methods:

Modification of the conventional Model Reference Adaptive System (MRAS) control law.
Augmentation of the MRAS structure with two compensating terms.
One term designed to eliminate nonlinear dynamics, the other to compensate for actuator faults and disturbances.
Evaluation of the proposed control scheme on a Continuous Stirred Tank Reactor (CSTR) system.

Main Results:

The proposed control system effectively accommodates both partial and total actuator failures.
The system demonstrates robustness against bounded external disturbances.
The modified MRAS structure successfully compensates for nonlinear dynamics and fault effects.
The absence of an FDD unit simplifies the control architecture.
Satisfactory performance was achieved in simulations using a CSTR model.

Conclusions:

The developed fault-tolerant control system based on a modified MRAS structure provides a robust and effective solution for nonlinear plants.
The proposed methodology successfully handles actuator failures and external disturbances without requiring an FDD unit.
The enhanced MRAS structure exhibits good robustness against parameter variations, making it suitable for real-world applications.