visakh
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An Actuator Failure Tolerant
Control Scheme for on UnderwaterRemotely Operated Vehicle
Guide:Vinod.B.R
Presented by,VISAKH.VM1 AEIRoll No 12
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Design
a) General Caseb) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
References
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INTRODUCTION
What is an ROV?
What are the challenges?
Actuator Failure Tolerant Control Scheme Usual Modules
How this paper is organized?
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Mathematical Model of ROV
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M Vehicle mass
m - Addition mass
Iz - Vehicle inertia moment around the z axis
iz - Addition inertia moment
Mc Resistance moment of the cable.
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Forces produced by the cable traction corresponding to asubmarine current of velocity Vc with
L cable length
Tv - vehicle weight in the water
W - weight for unit length of cablew - water density
Cdc - drag coefficient of the cable
Dc cable diameter
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Rx and Ry are the drag forces along the x and y axes
Cdi drag coefficient of the ith side wall
Cri the packing coefficient
Si area of the ith side wall
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Md and Mr are the components of the drag torque around thez axis produced by the vehicle rotation and by the current
Cd drag coefficient of rotation
Cr - packing coefficient of rotation
S - equivalent area of rotation
d1,d2,d3 vehicle dimensions along xa, ya and za axes
cangle between x axis and the velocity direction of current
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Substituting (2) to (5) in (1),
where the coefficients pi are tied to the physicalcharacteristics of the vehicle as given in table 1.
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State Space ROV Model
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode ControlDesign
a) General Caseb) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Input DecouplingTransformation
What is sliding mode control?
General Case
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For the transformed system
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Theorem 3
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Which implies asymptotic vanishing of the tracking error.
In order to achieve sliding mode on (18) . The following
inequality needs to be imposed. It can
be fulfilled imposing separately v inequalities. Each
inequality gives
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ROV : Nonlinear StateTransformation
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Rewriting 9 by fixing kth thruster, uk is the input
Nonlinear change of coordinates
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Applying transformation one gets the following equation
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With k=1 we will get the following equation
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ROV: Sliding Mode Control Law
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The result in theorem3 will be applied here with k=1. Thecontrol law is aimed at solving the regulation problemfor z1,z2,z3 with respect to their references.
Define
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The achievement of sliding motion on (18)requires the following condition:
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The following control law for T2:
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Fault Tolerant Control Scheme
1. A FD unit based on residual analysis
2. A FI unit monitoring the three decoupled sliding
surfaces, each of which is affected by a uniquethruster.
3. A supervisor, in charge of performing the controlreconfiguration among the available set of redundantinputs.
4. A robust sliding mode based control law designed on adecoupled model of the ROV.
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Abrupt Fault
Incipient Fault
Assumption:Only one of the four thrusters can undergo a
fault. i.e, multiple thruster faults cannot be admitted.
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Fault Detection: The ResidualGenerator Module
This module uses Structural Analysis.
X Subset of the unknown variables
K Subset of the known variables
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The CUSUM algorithm is chosen to design the decisionmodule of the failure detection system of the ROV.
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Fault Isolation
Sliding Mode Controller can be exploited to performfault isolation
If |si| 0 , then Ti is failed.
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CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Control Reconfiguration
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Control is reconfigured by fixing the failed thruster and by
using the other three healthy actuators.
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38 5/1/2012
CONTENTS
Introduction
Mathematical Model of the ROV
a) ROV Nonlinear Model
b) State Space ROV Model
Input Decoupling Transformation and Sliding Mode Control Designa) General Case
b) ROV Case Study : The Nonlinear State Transformation
c) ROV Case Study : Sliding Mode Control Law
Fault Tolerant Control Scheme
Fault Detection : The Residual Generator Module
Fault Isolation
Control Reconfiguration
Simulation Results
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Simulation Results
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Abrupt fault
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Incipient Fault
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References M. Blanke, H. Niemann, and T. Lorentzen, Structural analysisA case
study of the rmer satellite, in Proc. IFAC Safeprocess,Washington,DC, 2003.
V. Cocquempot, R. Izadi-Zamanabadi,M.Staroswiecki,andM.Blanke,Residual generation for the ship benchmark usingstructural approach,in Proc. UKACCInt. Conf. (Conf. Publ. 455), 1998,pp. 14801485.
V. Utkin, Sliding Modes in Control Optimization. Berlin,Germany:Springer Verlag, 1992.
Sliding Mode Control: Theory and Applications by ChristopherEdwards, and Sarah K. Spurgeon.
Applied Nonlinear Control by Jean-Jacques E.Slotine , and WeipingLi.
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