Dual neural networks based active fault-tolerant control for electromechanical systems with actuator and sensor failure

Hu, Jian; Sha, Yingzhe; Yao, Jianyong

doi:10.1016/j.ymssp.2022.109558

Cited by 14 publications

(5 citation statements)

References 17 publications

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“…Fractional order PID extends the integer order to the fractional domain, and adds two adjustable parameters, integral order λ and differential order µ . The lower-upper frequency of FOPID is 4 10 − and 4 10 , the filter order is usually set to 5.…”

Section: B Definition Of Fractional Order Calculusmentioning

confidence: 99%

Force Equalization Control of Redundant Electromechanical Actuation System by FOPID and Current Feedforward

Yang,

Hou,

Sun

et al. 2023

IEEE Access

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To solve force-fight problem of the fly-by-wire redundant electromechanical actuation system(EMAs) in an active-active mode, a force equalization control method with feedforward and feedback control is proposed. Aiming at the un-ideal stability and robust performance of force equalization controller, an optimized Fractional Order PID controller with current feedforward (FO+IF)is adopted. Aiming at the limitation of traditional parameter tuning, the controller parameters are optimized iteratively using the particle swarm optimization (PSO) algorithm. To improve the anti-interference performance of the system, a state observer for load torque is introduced into the current feedforward control. Through setting a serious force fight situation with multiple disturbances, the performance of FOPID and FO+IF on force fight and position response were compared, and the robustness of the system under the influence of sensitive parameters was analyzed by Monte Carlo method. The experimental results show that FO+IF can effectively improve the impact of static force fight and dynamic force fight on the system.

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Section: B Definition Of Fractional Order Calculusmentioning

confidence: 99%

Force Equalization Control of Redundant Electromechanical Actuation System by FOPID and Current Feedforward

Yang,

Hou,

Sun

et al. 2023

IEEE Access

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“…The EMA is a multibody system consisting of the motor, controllers, reducer, actuator and sensors, in which the clearance, friction and other nonlinear factors are detrimental to the output characteristics of the system. The research on EMAs mainly includes motor control [4], fault diagnosis [5][6][7][8] and dynamic characteristic analysis. In terms of the dynamic modeling and analysis of the EMA, Maré and Fu [9][10][11][12] conducted the modeling of clearance, friction and flexibility for the EMA and elaborated on the top-down parameterized design method of EMA position control.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of the Flap Actuation System Considering the Nonlinear Factors of EMA, Joint Clearance and Flexibility

Wan,

Song,

Zhou

et al. 2024

Aerospace

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The performance of the flap actuation system directly affects the control effect and the flight quality of an aircraft. The electromechanical actuator (EMA) and the linkage mechanism are important components of the system. In order to achieve the goals of good transmission accuracy and dynamic response, the influence of nonlinear properties in the transmission chain including the EMA and linkage mechanism should be considered. A co-simulation model at the system-level of the flap actuation system was developed, which takes nonlinear factors of the EMA, the impact dynamics of the linkage mechanism with joint clearance and the rigid–flexible coupling characteristics into account. Moreover, the experiments with different command frequencies and loads were performed. The simulation and experimental results were compared to verify the effectiveness of the co-simulation model. Finally, the effects of nonlinear properties including the contact stiffness and clearance of a planetary roller screw mechanism, EMA anchorage stiffness, number of clearance joints, flexibility and load are discussed. This work can contribute to analyzing the performance of an electromechanical multibody system with nonlinear characteristics, which has crucial academic meaning and engineering application values for the development of systems with high speed, good reliability and long life.

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“…For instance, in [15], a fault-tolerant control system is developed to detect the actuator fault without false alarms caused by external disturbances. In [16], two neural networks are introduced into a high-gain observer to estimate model uncertainties and fault respectively for the achievement of fault detection. Then, an improved fast integral terminal sliding mode control is designed to realize system stability.…”

Section: Introductionmentioning

confidence: 99%

Model-free fractional-order adaptive prescribed performance control for mechatronic systems with actuator failure

Tian

et al. 2023

Preprint

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In this paper, a model-free fractional-order adaptive prescribed performance controller (MFF-APPC) is designed for mechatronic systems in presence of uncertainties, external disturbances and actuator failure. The MFF-APPC is composed of ultra-local model (ULM)-based time-delay estimation (TDE), Proportional-Differential (PD) controller and fractional-order adaptive prescribed performance compensator (FAPPC). The ULM is utilized to approximate the complex mechatronic system in an extra-short sliding time window and TDE is employed to observe and eliminate the lumped disturbance. Then, PD controller is designed to stabilize the closed-loop system. Correspondingly, the TDE-based PD (TDE-PD) controller is constructed. However, there always exists estimation error under TDE technique and the tracking performance cannot be guaranteed. Hence, the FAPPC is designed and introduced into TDE-PD controller to eliminate the effect of estimation error on control performance and constrain the tracking error with prescribed convergence time and precision. Moreover, an adaptive parameter is designed to approximate the upper bound of estimation error in TDE and thus reduces the unwanted chattering on the switching manifold. Correspondingly, the MFF-APPC is constructed. Furthermore, the stability of closed-loop system under the proposed MFF-APPC is analyzed by using Lyapunov theorem. To validate the proposed method, the numerical simulation on 2-DOF robotic manipulator and co-simulation on virtual prototype of 7-DOF iReHave upper limb exoskeleton are completed. Through the compared simulation results with supervising switching technique based adaptive model-free controller (SST-AMFC) and robust fault tolerant controller (RFTC), the proposed strategy shows better trajectory tracking with prescribed performance.

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Dual neural networks based active fault-tolerant control for electromechanical systems with actuator and sensor failure

Cited by 14 publications

References 17 publications

Force Equalization Control of Redundant Electromechanical Actuation System by FOPID and Current Feedforward

Force Equalization Control of Redundant Electromechanical Actuation System by FOPID and Current Feedforward

Modeling and Analysis of the Flap Actuation System Considering the Nonlinear Factors of EMA, Joint Clearance and Flexibility

Model-free fractional-order adaptive prescribed performance control for mechatronic systems with actuator failure

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