Sliding mode based fault detection,reconstruction and fault tolerant control scheme for motor systems

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework.     

Fault-tolerant control through dynamic surface triple-step approach for proton exchange membrane fuel cell air supply systems

Due to complex electrochemical and thermal phenomena, varying operations towards automotive applications, and vulnerable ancillaries in proton exchange membrane fuel cells (PEMFCs), fault diagnosis and fault-tolerant control (FTC) design have become important aspects to improve the reliability, safety and performance of PEMFC systems. This paper presents a novel FTC scheme for automotive PEMFC air supply systems via coordinated control of the air flow rate and the pressure in cathodes. A dynamic surface triple-step approach is first proposed considering nonlinear dynamics and the multi-input multi-output (MIMO) property, which combines the advantage of dynamic surface control in avoiding an “explosion of complexity” and the advantage of triple-step control in guaranteeing a simple structure and high performance. The normal case, the faulty case at the supply manifold and the faulty case in the back pressure valve are considered in the FTC design, with the stability of the overall system proved using Lyapunov methods. MATLAB/Simulink simulations with a high-fidelity PEMFC model verify the effectiveness of the proposed FTC scheme in regulating the air flow rate and oxygen excess ratio and maintaining the pressure of the cathode at a desired level even under faulty conditions.     

Adaptive control for spacecraft rendezvous subject to actuator faults and saturations

An adaptive saturated fault-tolerant controller is proposed for a spacecraft rendezvous maneuver with a cooperative target spacecraft. The six-degree-of-freedom (6-DOF) relative dynamics subject to unknown inertial parameters, external disturbances, actuator faults and saturations are formulated in the pursuer's body-fixed frame. To design controller satisfying asymmetric magnitude constraints, a modified smooth hyperbolic tangent function is applied to approximate the non-differentiable saturation function. Based on the augmented system technique, an adaptive fault-tolerant saturated controller is designed for the pursuer by using a Nussbaum function matrix compensating for the nonlinear term arising from the input saturations. In addition, a Levant differentiator is introduced to obtain the derivative of the virtual control in finite time that avoids the complicated calculation. It is proved via Lyapunov stability theory that all the signals in the closed-loop augmented system are bounded and the relative errors asymptotically converge to zero. Numerical simulations are performed to illustrate effectiveness of the proposed controller.     

Compound fault-tolerant attitude control for hypersonic vehicle with reaction control systems in reentry phase

In this paper, a novel compound fault-tolerant attitude control (FTC) scheme is proposed for reentry hypersonic vehicles with aerodynamic surfaces and reaction control systems (RCS) in the presence of parameter uncertainties, external disturbances and aerodynamic surfaces faults. Aerodynamic surfaces work as the primary actuators and RCS serve as auxiliary actuators. When aerodynamic surfaces cannot provide the required attitude control torque due to low dynamic pressure or faults, RCS are activated to assist aerodynamic surfaces to generate the residual torque. A nonlinear disturbance observer-based sliding mode controller is designed to calculate the required attitude control torque which can handle the parametric uncertainties and external disturbances together. The quadratic programming method is applied to obtain the optimal aerodynamic surfaces deflections from the required control torque. An innovative fuzzy rule-based decision-making system is design to solve the RCS control allocation problem, which is conceptually easy to understand and computationally efficiently compared with existing approaches. Based on quantized control theory, the closed-loop control system stability is rigorously analyzed. Simulation results are given to demonstrate the effectiveness and efficiency of developed FTC scheme.     

A fault-tolerant and energy efficient control strategy for primary-secondary chilled water systems in buildings

Primary-secondary chilled water systems with decoupled bypass in building air-conditioning often cannot work in healthy condition as desired in practical operation, due to excess secondary flow demand resulting in deficit flow in the bypass line. This paper presents a fault-tolerant and energy efficient control strategy for secondary chilled water pump systems to solve this operation and control problem providing enhanced operation performance and energy efficiency of chilled water systems. The strategy employs the flow-limiting technique that ensures the water flow of secondary loop not exceed that of the primary loop while still maintaining highest possible delivery capacity of cooling to terminals. The strategy is also integrated with a differential pressure set-point optimizer to determine the optimal set-point. The performance of this strategy is evaluated in a simulated real-life environment representing the chilled water system in a super high-rise building by comparing it with two conventional control strategies. Results show that the proposed strategy can effectively eliminate the deficit flow at both starting and normal operation periods. The energy saving in the secondary chilled water pumps can be up to over 70% and 50% at system starting and normal operation periods respectively compared with the other strategies.     

Design of a soft-error robust microprocessor

The costs to protect a commercial microprocessor against soft errors are discussed in this work. Based on hardware and time redundancies, a protection scheme was designed at RT level to mitigate transient faults on combinational and memory circuits. A fault-tolerant IC version of a mass-produced 8-bit microprocessor is protected by the scheme. Design issues and results in area, performance and power are presented comparing the robust microprocessor with its non-protected version. The costs by flip-flop are also discussed permitting to estimate the overheads in area for any architecture. Furthermore, the RT-level protection scheme is compared with an electrical-level scheme based on a non-standard gate.     

A proactive backup scheme for reliable real-time transmission

Reliable transmission is a key issue for distributed real-time applications. The concept of Real-time Dependable Channel was introduced to provide availability to real-time transmission. Two aspects are important for the efficiency of a Real-time dependable channel: assuring the end-to-end delay bound and optimising the utilisation of network resources. A packet can miss its delay bound for two reasons: network congestion or network failure. The classic solution to this problem has been the use of Backup Channels which introduces the notion of availability at the expense of increasing the use of network resources. However, this over-provisioning of resources is potentially wasted, since the failure rate is very low.     

Mission reliability analysis of fault-tolerant multiple-phased systems

Fault-tolerant multiple-phased systems (FTMPS) are defined as systems whose critical components are independently replicated and whose operational life can be partitioned into a set of disjoint periods, called “phases”. Because of their deployment in critical applications, their mission reliability analysis is a task of primary relevance to validate the designs. This paper is focused on the reliability analysis of FTMPS with random phase durations, non-exponentially distributed repair activities and different repair policies. For self-repairable FTMPS with a component-level reconfiguration architecture, we derive several efficient formulations from the underlying structure characteristics for their intraphase behavior analysis. We also present a uniform solution framework of the mission reliability for FTMPS with generally distributed phase durations. Compared with existing methods based on deterministic and stochastic Petri nets or Markov regenerative stochastic Petri nets, our approach is more simple in concept and powerful in computation. Two examples of FTMPS are analyzed to illustrate the advantages of our approach.     

Setting checkpoints in legacy code to improve fault-tolerance

In this paper we describe the results of a study of the insertion of checkpoints within a legacy software system in the aerospace domain. The purpose of the checkpoints was to improve program fault-tolerance during program execution by rolling back system control to a saved state from which program execution can continue. The study used novice programmers for the determination of where the checkpoints were to be added. The focus was on the programmer’s understanding of the code, since this affected how the checkpoints were placed. The results should provide guidance to those interested in improving the fault-tolerance of legacy software systems, especially those written in older, nearly obsolescent programming languages.     

磁悬浮列车悬浮系统容错控制的研究

磁浮列车的悬浮系统是具有多传感器、多控制器的复杂非线性系统,其运行环境十分复杂。一旦发生故障或失效就有可能造成人员伤亡或财产损失。本文以磁浮列车悬浮系统为研究对象,设计满足要求的容错控制器,以改善系统的性能。采用基于线性矩阵不等式处理方法,利用李亚普诺夫稳定性理论等原理,对悬浮系统的容错控制问题进行了研究。