11,061 research outputs found

    Active actuator fault-tolerant control of a wind turbine benchmark model

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    This paper describes the design of an active fault-tolerant control scheme that is applied to the actuator of a wind turbine benchmark. The methodology is based on adaptive filters obtained via the nonlinear geometric approach, which allows to obtain interesting decoupling property with respect to uncertainty affecting the wind turbine system. The controller accommodation scheme exploits the on-line estimate of the actuator fault signal generated by the adaptive filters. The nonlinearity of the wind turbine model is described by the mapping to the power conversion ratio from tip-speed ratio and blade pitch angles. This mapping represents the aerodynamic uncertainty, and usually is not known in analytical form, but in general represented by approximated two-dimensional maps (i.e. look-up tables). Therefore, this paper suggests a scheme to estimate this power conversion ratio in an analytical form by means of a two-dimensional polynomial, which is subsequently used for designing the active fault-tolerant control scheme. The wind turbine power generating unit of a grid is considered as a benchmark to show the design procedure, including the aspects of the nonlinear disturbance decoupling method, as well as the viability of the proposed approach. Extensive simulations of the benchmark process are practical tools for assessing experimentally the features of the developed actuator fault-tolerant control scheme, in the presence of modelling and measurement errors. Comparisons with different fault-tolerant schemes serve to highlight the advantages and drawbacks of the proposed methodology

    Process operating mode monitoring : switching online the right controller

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    This paper presents a structure which deals with process operating mode monitoring and allows the control law reconfiguration by switching online the right controller. After a short review of the advances in switching based control systems during the last decade, we introduce our approach based on the definition of operating modes of a plant. The control reconfiguration strategy is achieved by online selection of an adequate controller, in a case of active accommodation. The main contribution lies in settling up the design steps of the multicontroller structure and its accurate integration in the operating mode detection and accommodation loop. Simulation results show the effectiveness of the operating mode detection and accommodation (OMDA) structure for which the design steps propose a method to study the asymptotic stability, switching performances improvement, and the tuning of the multimodel based detector

    A novel robust predictive control system over imperfect networks

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    This paper aims to study on feedback control for a networked system with both uncertain delays, packet dropouts and disturbances. Here, a so-called robust predictive control (RPC) approach is designed as follows: 1- delays and packet dropouts are accurately detected online by a network problem detector (NPD); 2- a so-called PI-based neural network grey model (PINNGM) is developed in a general form for a capable of forecasting accurately in advance the network problems and the effects of disturbances on the system performance; 3- using the PINNGM outputs, a small adaptive buffer (SAB) is optimally generated on the remote side to deal with the large delays and/or packet dropouts and, therefore, simplify the control design; 4- based on the PINNGM and SAB, an adaptive sampling-based integral state feedback controller (ASISFC) is simply constructed to compensate the small delays and disturbances. Thus, the steady-state control performance is achieved with fast response, high adaptability and robustness. Case studies are finally provided to evaluate the effectiveness of the proposed approach

    A Quantitative Parametric Study on Output Time Delays for Autonomous Underwater Cleaning Operations

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    Offshore pipelines and structures require regular marine growth removal and inspection to ensure structural integrity. These operations are typically carried out by Remotely Operated Vehicles (ROVs) and demand reliable and accurate feedback signals for operating the ROVs efficiently under harsh offshore conditions. This study investigates and quantifies how sensor delays impact the expected control performance without the need for defining the control parameters. Input-output (IO) controllability analysis of the open-loop system is applied to find the lower bound of the H-infinity peaks of the unspecified optimal closed-loop systems. The performance analyses have shown that near-structure operations, such as pipeline inspection or cleaning, in which small error tolerances are required, have a small threshold for the time delays. The IO controllability analysis indicates that off-structure navigation allow substantial larger time delays. Especially heading is vulnerable to time delay; however, fast-responding sensors usually measure this motion. Lastly, a sensor comparison is presented where available sensors are evaluated for each ROV motion’s respective sensor-induced time delays. It is concluded that even though off-structure navigation have larger time delay tolerance the corresponding sensors also introduce substantially larger time delays

    On-line estimation approaches to fault-tolerant control of uncertain systems

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    This thesis is concerned with fault estimation in Fault-Tolerant Control (FTC) and as such involves the joint problem of on-line estimation within an adaptive control system. The faults that are considered are significant uncertainties affecting the control variables of the process and their estimates are used in an adaptive control compensation mechanism. The approach taken involves the active FTC, as the faults can be considered as uncertainties affecting the control system. The engineering (application domain) challenges that are addressed are: (1) On-line model-based fault estimation and compensation as an FTC problem, for systems with large but bounded fault magnitudes and for which the faults can be considered as a special form of dynamic uncertainty. (2) Fault-tolerance in the distributed control of uncertain inter-connected systems The thesis also describes how challenge (1) can be used in the distributed control problem of challenge (2). The basic principle adopted throughout the work is that the controller has two components, one involving the nominal control action and the second acting as an adaptive compensation for significant uncertainties and fault effects. The fault effects are a form of uncertainty which is considered too large for the application of passive FTC methods. The thesis considers several approaches to robust control and estimation: augmented state observer (ASO); sliding mode control (SMC); sliding mode fault estimation via Sliding Mode Observer (SMO); linear parameter-varying (LPV) control; two-level distributed control with learning coordination

    Narrow-Angle Astrometry with the Space Interferometry Mission: The Search for Extra-Solar Planets. II. Detection and Characterization of Planetary Systems

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    (Abridged) The probability of detecting additional companions is essentially unchanged with respect to the single-planet configurations, but after fitting and subtraction of orbits with astrometric signal-to-noise ratio α/σd1\alpha/\sigma_d\to 1 the false detection rates can be enhanced by up to a factor 2; the periodogram approach results in robust multiple-planet detection for systems with periods shorter than the SIM mission length, even at low values of α/σd\alpha/\sigma_d, while the least squares technique combined with Fourier series expansions is arguably preferable in the long-period regime. The accuracy on multiple-planet orbit reconstruction and mass determination suffers a typical degradation of 30-40% with respect to single-planet solutions; mass and orbital inclination can be measured to better than 10% for periods as short as 0.1 yr, and for α/σd\alpha/\sigma_d as low as 5\sim 5, while α/σd100\alpha/\sigma_d\simeq 100 is required in order to measure with similar accuracy systems harboring objects with periods as long as three times the mission duration. For systems with all components producing α/σd10\alpha/\sigma_d\simeq 10 or greater, quasi-coplanarity can be reliably established with uncertainties of a few degrees, for periods in the range 0.1T150.1\leq T\leq 15 yr; in systems where at least one component has α/σd1\alpha/\sigma_d\to 1, coplanarity measurements are compromised, with typical uncertainties on the mutual inclinations of order of 304030^\circ-40^\circ. Our findings are illustrative of the importance of the contribution SIM will make to the fields of formation and evolution of planetary systems.Comment: 61 pages, 14 figures, 5 tables, to appear in the September 2003 Issue of the Publications of the Astronomical Society of the Pacifi
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