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논문 상세정보

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

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

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.

  

참고문헌 (12)

  1. 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) 
  2. 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) 
  3. 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 
  4. 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) 
  5. 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) 
  6. 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) 
  7. 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 
  8. Takashi Suzuki, 'Adaptive Control', CORONA PUBLISHING CO., LTD, Tokyo, Japan, 2001, pp.87-90 (in Japanese) 
  9. 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 
  10. 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) 
  11. Xianchun DING, and Paul M. FRANK, 'Fault detection via factorization approach', Systems and Control Letters, Vol. 14, issue5, pp.431-436, Jun. 1990 
  12. 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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