[논문]A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer

Izumikawa Yu; Yubai Kazuhiro; Hirai Junji

A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer 원문보기

Journal of power electronics, v.6 no.1, 2006년, pp.8 - 17

Izumikawa Yu (Dept. of Electrical and Electronic Eng., Mie University) , Yubai Kazuhiro (Dept. of Electrical and Electronic Eng., Mie University) , Hirai Junji (Dept. of Electrical and Electronic Eng., Mie University)

Abstract ▼ AI-Helper

In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.

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문제 정의

This paper is concerned with the vibration suppression control of a one-link flexible arm robot. In our control system, vibration suppression is realized by the additional feedback of a strain gauge sensor attached to the arm beside the motor angle.

가설 설정

In this paper, we proposed a fault-tolerant control system with a sensor signal observer for the strain gauge sensor fault. In the proposed system, the strain gauge sensor fault is detected by monitoring the estimation error between the sensor signal and the estimated signal, and the control sy마em works with the estimated signal after fault detection.

제안 방법

In this paper, we proposed a fault-tolerant control system with a sensor signal observer for the strain gauge sensor fault. In the proposed system, the strain gauge sensor fault is detected by monitoring the estimation error between the sensor signal and the estimated signal, and the control sy마em works with the estimated signal after fault detection. To construct the sensor signal observer, we showed the relationship between the reaction force and the strain gauge sensor signal and constructed the sensor signal observer consisting of the reaction force observer and the gain.
However, from a practical point of view, the second approach lacks estimation robustness against plant deviations and disturbances. In this paper, we extend this approach by implementing a sensor signal observer, which has adaptive parameters, to overcome this problem.
Figure 2 illustrates the config나ration of the proposed fault-tolerant control system. The proposed system is constructed by adding a strain gauge sensor signal observer, an adaptive algorithm, a fault-mode controller Cp, and a fault detector to the (normal) control system of the flexible arm. The rest of this section describes the details of these components.
In the proposed system, the strain gauge sensor fault is detected by monitoring the estimation error between the sensor signal and the estimated signal, and the control sy마em works with the estimated signal after fault detection. To construct the sensor signal observer, we showed the relationship between the reaction force and the strain gauge sensor signal and constructed the sensor signal observer consisting of the reaction force observer and the gain. Moreover, estimation accuracy and estimation robustness against parameter variations are improved by introducing adaptive parameters.

참고문헌 (12)

Hayato Komatsu, Tatsuya Suzuki, Shigeru Okuma, and Yasuhiro Yamaguchi, 'Realization of Fault Tolerant Design Control for the Re-entry Space Vehicle Using {\mu}$ -synthesis', in Proc. Technical Meeting on Industrial Instrumentation and Control lEEJ, 2002, IIC-02-28, pp.77-81(in Japanese)
Yoshiro Hamada, Seiichi Shin, and Noboru Sebe, 'A Design Method for Fault-Tolerant Multivariable Control Systems ---A Condition for ${\iota}$ -partial Integrity---', SICE Trans., Vol. 34, No. 9, pp.1184-1190, Sep. 1998(in Japanese)
Rolf Isermann, Ralf Schwarz, and Stefan stolzl , 'Fault-Tolerant Drive-by-Wire Systems', lEEE Control Systems Magazine, Vol. 22, No. 5, pp.64-81, Oct. 2002
Atsushi Inoue, Satoshi Komada, and Takamasa Hori, 'Control of Flexible Arms by Bending Moment Considering Second Mode Vibration', in Proc. national convention record lEEJ industry applications society, 1999 pp.403-404(in Japanese)
Kazuaki Yuki, Toshiyuki Murakami, and Kouhei Ohnishi, 'Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control', lEEJ Trans. Industry Applications, Vol. 113-D, No. 10, pp.1162-1169, Oct. 1993 (in Japanese)
Kiyoshi Ohishi, Masaru Miyazaki, and Masahiro Fujita, 'Hybrid Position and Force Control without Force Sensor' RSJ Journal., Vol. 11, No. 3, pp.468--476, Apr. 1993(in Japanese)
Satoshi Komada, Kenji Ohta, Muneaki Ishida, and Takamasa Hori, 'Trajectory Control of Flexible Arms Using Vibration Suppression Control by First Order Lag Strain Signal Feedback', in Proc. the 2nd Asian Control Conference, 1997, pp.185-188
Takashi Suzuki, 'Adaptive Control', CORONA PUBLISHING CO., LTD, Tokyo, Japan, 2001, pp.87-90 (in Japanese)
Duncan McFarlane, and Keith Glover, 'A Loop Shaping Design Procedure Using $H_{infty}$ Synthesis', lEEE Trans. Automatic Control, Vol. 37, No. 6, pp.759-769, Jun. 1992

상세보기
Hayato Komatsu, Tadanao Zanma, Tatsuya Suzuki, and Shigeru Okuma, 'Switching of H_{\infty}$ Controllers under Constraints and Decision of Controller State at Instance of the Controller Switching', IEEJ Trans. Electronics, Information and Systems Society, Vol. 121-C, No. 12, pp.1897-1904, Dec. 2001(in Japanese)
Xianchun DING, and Paul M. FRANK, 'Fault detection via factorization approach', Systems and Control Letters, Vol. 14, issue5, pp.431-436, Jun. 1990

상세보기
Yu Izumikawa, Kazuhiro Yubai, and Takamasa Hori, 'Vibration Suppression Control of Flexible Arm Robot by PD Gain Switching Considering Sensor Failure', in Proc. 2002 IEEE International Conference on Industrial Technology, pp.684-689, 2002

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