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An Actuator Failure Tolerant Control Scheme for on Underwater Remotely Operated Vehicle

Guide:Vinod.B.R

Presented by, VISAKH.V M1 AEI Roll No 12

CONTENTS


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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 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 References
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INTRODUCTION

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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
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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 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 5 5/1/2012 .

6 5/1/2012 .M– mIz iz Mc – Vehicle mass Addition mass Vehicle inertia moment around the z axis Addition inertia moment Resistance moment of the cable.

weight for unit length of cable ρw - water density Cdc .drag coefficient of the cable Dc – cable diameter 7 5/1/2012 .Forces produced by the cable traction corresponding to a submarine current of velocity Vc with L – cable length Tv .vehicle weight in the water W .

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 8 5/1/2012 .

equivalent area of rotation d1.d2.packing coefficient of rotation S . ya and za axes Фc – angle between x axis and the velocity direction of current 9 5/1/2012 .d3 – vehicle dimensions along xa.Md and Mr are the components of the drag torque around the z axis produced by the vehicle rotation and by the current Cd – drag coefficient of rotation Cr .

10 5/1/2012 .Substituting (2) to (5) in (1). where the coefficients pi are tied to the physical characteristics of the vehicle as given in table 1.

State Space ROV Model 11 5/1/2012 .

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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 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 13 5/1/2012 .

Input Decoupling Transformation What is sliding mode control? General Case 14 5/1/2012 .

For the transformed system 15 5/1/2012 .

Theorem 3 16 5/1/2012 .

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The following inequality needs to be imposed.Which implies asymptotic vanishing of the tracking error. Each inequality gives 18 5/1/2012 . It can be fulfilled imposing separately v inequalities. In order to achieve sliding mode on (18) .

ROV : Nonlinear State Transformation Rewriting 9 by fixing kth thruster. uk is the input Nonlinear change of coordinates 19 5/1/2012 .

Applying transformation one gets the following equation 20 5/1/2012 .

With k=1 we will get the following equation 21 5/1/2012 .

The control law is aimed at solving the regulation problem for z1. Define 22 5/1/2012 .ROV: Sliding Mode Control Law The result in theorem3 will be applied here with k=1.z2.z3 with respect to their references.

The achievement of sliding motion on (18) requires the following condition: 23 5/1/2012 .

The following control law for T2: 24 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 Design a) 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 25 5/1/2012 .

each of which is affected by a unique thruster.Fault Tolerant Control Scheme 1. A FD unit based on residual analysis A FI unit monitoring the three decoupled sliding surfaces. 26 5/1/2012 . A supervisor. A robust sliding mode based control law designed on a decoupled model of the ROV. 2. 4. in charge of performing the control reconfiguration among the available set of redundant inputs. 3.

i.Abrupt Fault Incipient Fault Assumption: Only one of the four thrusters can undergo a fault. 27 5/1/2012 .e. multiple thruster faults cannot be admitted.

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 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 28 5/1/2012 .

X – Subset of the unknown variables K – Subset of the known variables 29 5/1/2012 .Fault Detection: The Residual Generator Module This module uses Structural Analysis.

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33 5/1/2012 .The CUSUM algorithm is chosen to design the decision module of the failure detection system of the ROV.

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 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 34 5/1/2012 .

Fault Isolation • Sliding Mode Controller can be exploited to perform fault isolation If |si| › 0 . 35 5/1/2012 . then Ti is failed.

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 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 36 5/1/2012 .

Control Reconfiguration Control is reconfigured by fixing the failed thruster and by using the other three healthy actuators. 37 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 Design a) 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 38 5/1/2012 .

Simulation Results Abrupt fault 39 5/1/2012 .

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Incipient Fault 42 5/1/2012 .

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Blanke.‖in Proc. ―Structural analysis—A case study of the rømer satellite. Blanke. Conf.‖ in Proc. Cocquempot. 455). Publ. (Conf. Berlin. V. UKACCInt. 1992. ―Sliding Mode Control: Theory and Applications‖ by Christopher Edwards. Washington. V. Utkin. 1480–1485. pp. 2003.M. 1998.DC. and Weiping Li. Germany:Springer Verlag. IFAC Safeprocess. • • • • 45 5/1/2012 . and Sarah K. Spurgeon.Slotine . Lorentzen. and T.References • M. ― Applied Nonlinear Control ― by Jean-Jacques E. Niemann. andM. Sliding Modes in Control Optimization. H. Izadi-Zamanabadi.Staroswiecki. R.―Residual generation for the ship benchmark using structural approach.

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