Modelling and control of a high redundancy actuator

Du, X, Dixon, R, Goodall, R M and Zolotas, A C (2010) Modelling and control of a high redundancy actuator. Mechatronics, 20 (1). 102 - 112. ISSN 0957-4158

This is the latest version of this item.

[img] PDF
Restricted to SRO admin only

Download (1MB)
[img] PDF - Accepted Version
Restricted to SRO admin only

Download (668kB)

Abstract

The high redundancy actuation concept is a completely new approach to fault tolerance, and it is important to appreciate that it provides a transformation of the characteristics of actuators so that the actuation performance (capability) degrades slowly rather than suddenly failing, even though individual elements themselves fail. This paper aims to demonstrate the viability of the concept by showing that a highly redundant actuator, comprising a relatively large number of actuation elements, can be controlled in such a way that faults in individual elements are inherently accommodated, although some degradation in overall performance will inevitably be found. The paper introduces the notion of fault-tolerant systems and the highly redundant actuator concept. Then a model for a two by two configuration with electro-mechanical actuation elements is derived. Two classical control approaches are then considered based on frequency domain techniques. Finally simulation results under a number of faults show the viability of the approach for fault accommodation without re-configuration

Item Type: Article
Additional Information: Special issue on “Servo Control for Data Storage and Precision Systems”, from 17th IFAC World Congress 2008.
Keywords: Classical control
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Subjects: T Technology
T Technology > TA Engineering (General). Civil engineering (General) > TA0174 Engineering design
T Technology > TJ Mechanical engineering and machinery > TJ0212 Control engineering systems. Automatic machinery (General)
Related URLs:
Depositing User: Argyrios Zolotas
Date Deposited: 20 Nov 2012 20:48
Last Modified: 11 Sep 2017 05:03
URI: http://sro.sussex.ac.uk/id/eprint/42757

Available Versions of this Item

View download statistics for this item

📧 Request an update