133 results about "Fault tolerant control system" patented technology

The invention discloses an embedded real-time emulation and fault simulation system based on multiple data buses, comprising upper computer simulation management software and an embedded real-time emulation and fault simulation device. The upper computer simulation management software guides the user to perform emulation configuration and fault setting aiming at a fault-tolerant control system to be tested through a human-computer interface, and generates fault emulation data of multiple redundancy equipment. The embedded real-time emulation and fault simulation device outputs the fault emulation data in real-time and synchronously through the multiple data buses, simulates the fault of the multiple redundancy equipment and outputs the fault data stream. The upper computer and a lower computer communicate mutually through an Ethernet to achieve the downloading of the information configuration, the fault emulation data and the emulation control command of the upper computer, and the uploading of the working condition of the lower computer. The invention overcomes the defects of poor universality and lower synchronous precision of the traditional multiple equipment fault simulation device based on the emulation, and is suitable for the test and the verification of the different redundancy fault-tolerant designs of the complex spacecraft system with numerous equipment and frequent data exchange.

The invention discloses a triple-redundancy control computer and a fault-tolerant control system. The triple-redundancy control computer comprises a switching value voting array module and three completely-independent sub-computers. The switching value voting array module receives switching value control signals output by the three sub-computers, backs up the switching value control signals, and outputs switching value power control instructions through a hardware voter. Each sub-computer determines a left computer and a right computer which correspond to the sub-computer according to a left and right computer role definition table. Each sub-computer comprises a synchronous module, a self-detection module, a left computer detection module, a right computer detection module, a duty control module, a host module and a switching value control output module. According to the triple-redundancy control computer and the fault-tolerant control system, on the basis of meeting the requirement of the system for hard real-time performance, more single-computer fault modes can be tolerated, the overall high reliability of the system is improved, and the software and hardware expenses are reduced.

The invention discloses a control method of a four-phase permanent magnet fault-tolerant motor. In the method, a control mode can be automatically decided according to the diagnosed situation of a system failure; when the system is at a normal state, an SVPWM control is adopted; when the system has a phase-lacking failure, a fault-tolerant torque control is adopted; different fault-tolerant control proposals are adopted according to different types of phase-lacking failures. The control method realizes that the four-phase permanent magnet fault-tolerant motor can operate with high performance under the normal condition and the phase-lacking condition, overcomes the deficiency that the stable performance of the system when in normal working is reduced in the traditional fault-tolerant control system which adopts current for regulating PWM for realizing current tracing for the convenience of fault-tolerant control, establishes a mathematical model of the four-phase permanent magnet fault-tolerant motor under a rotating coordinate system, successfully applies an SVPWM strategy to the four-phase permanent magnet fault-tolerant motor and enhances the dynamic and static performances and reliability of the control system of the four-phase permanent magnet fault-tolerant motor.

The invention provides a fault diagnosis method, a fault-tolerant control method and a fault-tolerant control system of an automobile BLDC position sensor. The fault diagnosis method and the fault-tolerant control method are carried out according to a starting stage and a normal speed regulation stage of a motor. At the starting stage, the position of a rotor is judged according to signal jumping of the position sensor, then the fault state of the position sensor is judged, and accordingly the mode of starting the motor is selected. At the normal speed regulating state, the rotor position value is calculated according to the rotor position estimation technology and is compared with a position sensor signal to judge the fault state, and accordingly the rotor position and the motor revolving speed can be verified. A fault-tolerant control module comprises a rotor position observing unit, a position sensor fault diagnosis unit and a fault-tolerant control unit all of which are connected in pairs. According to the fault diagnosis method, the fault state of the position sensor can be accurately judged, the fault-tolerant control method is adopted under the fault state of the position sensor, the normal starting and the speed controlling of the motor can be maintained, and insecurity or other damages caused by accidental sensor fault can be effectively avoided.

A fault tolerant control system for a multi-phase permanent magnet assisted synchronous reluctance motor utilizes vector control to provide safe operation under various phase loss fault conditions. Specifically, the vector control of the present invention utilizes a fault tolerant algorithm that receives a torque input and an electrical current feedback signal from the motor. Thus, in the presence of a fault condition, the vector control applies the optimal torque angle to the motor, while reducing the phase currents to an optimized value to lessen the saturation effect in the motor, so as to ensure that the motor delivers maximum torque output in the presence of such faults. As such, the control system allows the motor to operate safely with high reliability, which is highly desirable, such as in electric vehicles and the aerospace industry.

The invention discloses a vertical take-off and landing airplane robust fault-tolerant control system and method based on cascaded observers, and belongs to the technical field of aircraft control. A vertical take-off and landing airplane dynamical model taking external disturbance and actuator faults into consideration is built, the dynamical model is converted into a non-linear model in a standard form, the disturbance, the faults and state variables are estimated in real time by using the disturbance observer and the fault diagnosis observer which is in cascade connection with the disturbance observer, the non-linear model is decoupled into two subsystems, the control rate of each subsystem is determined, and the fault-tolerant control rate is determined according to the control rates and fault estimation values of the two subsystems. Under the action of a fault-tolerant controller, the system taking effects of the external disturbance and the faults into consideration compensates for the faults and the disturbance in real time, influence of the faults and the disturbance is reduced rapidly, and robustness of the control system is improved.

Based on a neural network technology and an instruction filtering inversion method, the invention discloses a robust fault tolerance control system design structure based on instruction filtering inversion. Firstly, a mathematical model of an NSV attitude control system is given out, uncertainties and external disturbance caused by modeling errors are considered based on the mathematical model, a state equation of the NSV attitude control system under the fault of a control surface is also considered. The method mainly includes the two design parts including design of an auxiliary system and design of a controller based on the auxiliary system. The auxiliary system is introduced into the neural network to ensure robustness of the auxiliary system, and stability of a closed-loop system is strictly proved through Lyapunov theorem. Meanwhile, simulation is carried out on an attitude control system of a corresponding air vehicle, and a result shows that the method enables the uncertain flight control system with the external disturbance to have the ideal fault tolerance tracking performance under damage to the control surface.

The invention discloses a non-affine non-linear flight control system robust adaptive fault-tolerant control system used for a non-linear system with parameters in a non-affine mode. An observer has relatively idea robustness on the situation that the parameters change in a large range. Fault information and disturbance information are implied in the observer, and then a fault-tolerant controller is dynamically designed on the basis of the observer. Due to the non-affine non-linear system, the controller is not easy to design, the non-affine non-linear system approximates to an affine non-linear system with time-varying parameters, and the parameters needing to be known are estimated online through a filter. By means of the non-linear flight control system, effectiveness of a method is verified, and robust adaptive fault-tolerant control of the non-affine non-linear flight control system can be achieved. Robust adaptive fault-tolerant control of the non-affine non-linear flight control system is achieved and applied in the flight control system, and a simulation result displays effectiveness of the method.

A fault tolerant controller system includes a first controller and a second controller. One of the first and second controllers designated as a primary controller for generating control signals intended to control actuation devices on a vehicle under non-fault operating conditions, and the other of the first and second controllers designated as a secondary controller generating control signals intended to control actuation devices on the vehicle. The actuation devices are responsive only to the designated primary controller. An error is detected in the primary controller and a message is transmitted from the faulty controller to the non-faulty controller identifying the error. The non-faulty controller is subsequently designated as the primary controller. The control signals including an identifier that identifies the non-faulty controller as the designated primary controller. In response to detecting the error, the faulty controller is reset to operate in a safe operating mode as the secondary controller.

A dual-redundant propulsion-by-wire control architecture with robust monitoring is presented to increase system availability without compromising safety. The dual-redundant controllers are able to cross-monitor and self-monitor. Self monitoring is effected at the application level and built-in system tests are performed. The monitor functions are set as high priority tasks. The first controller controls operation of a first propulsion system, monitors operation of a second controller, and, self-monitors. The second controller controls operation of a second propulsion system, monitors operation of the first controller, and, self-monitors. Each controller is operable to identify faults occurring in the first and the second controller, and implement an alternate operating control scheme for the respective propulsion system when a fault is identified. The first controller is signally connected to the second controller by substantially redundant communications buses.

The present invention discloses a system and method for fault-tolerant control under five-phase permanent magnet synchronous motor open-circuit faults. The method comprises: employing a rotation speedcontroller to obtain a fundamental wave space quadrature-axis current reference value; based on a magneto-motive force invariant principle, performing reconfiguration of phase current after generation of faults, and obtaining a fundamental wave space two-phase static current reference value through the developed Clark conversion; employing the collected phase current and a rotor position angle tocalculate a no-voltage voltage vector effect time; employing the two-phase static current reference value and a preset value to establish a value function; and finally, obtaining an optimal voltage vector and an effect time thereof through optimization of the value function, employing duty ratio control to design a duty ratio and convey to duty ratio to an inverter, and outputting an optimal voltage through the inverter to a permanent magnet synchronous motor operated with faults. The system and method for fault-tolerant control under five-phase permanent magnet synchronous motor open-circuitfaults simplify a voltage vector set after five-phase permanent magnet synchronous motor open-circuit faults are generated and reduce calculation amount; a method through combination of a no-zero vector and a zero vector is utilized to improve model prediction and control stable state performances.

The invention discloses a dynamic-actuator aircraft attitude distributed type fault-tolerant control system. The system comprises an actuator fault detection and identification unit, an auxiliary system based on an observer and an inversion fault-tolerant control algorithm based on order filtering. According to the distributed type fault-tolerant control system, the actuator fault detection and identification unit is used for obtaining fault information of actuators in real time, the self-adaptive sliding-mode observer is obtained according to an attitude angular speed ring, the observer has strong robustness, an undetermined or interference upper bound does not need to be known, and control surface damage fault information an interference information are both hidden in the observer; a fault-tolerant controller is obtained based on an observer model. Robustness fault-tolerant control over various faults of different types under the multi-fault condition is achieved, the fault-tolerant control system is applied to near-space vehicle attitude stable control and tracking control under the condition of faults of the actuators and the control surface, flying attitude robustness fault-tolerant control is achieved, and good control performance and effect are achieved.

The present invention relates to a distributed active fault-tolerant control system of suspension module of electromagnetic maglev train. The control system comprises 8 electromagnets which are arranged on the suspension module, 4 independent suspension controllers, a first sensor group and a second sensor group; the 8 electromagnets are divided into 4 electromagnet groups; each electromagnet group comprises two electromagnets which are connected in series; each suspension controller is connected with an electromagnet group through a chopper; the first sensor group and the second sensor group are respectively arranged at two ends of the suspension module; the suspension controller, the first sensor group and the second sensor group are connected through a CAN bus; the suspension controller is connected with the vehicle monitoring system of the maglev train. The distributed active fault-tolerant control system of the suspension module of the electromagnetic maglev train can tolerate failures of the controller, the sensor and the actuator in the suspension system, and thus greatly improve the reliability, stability and security.

The invention designs an actuator fault detection and identification unit based on multiple observers and a decentralized fault-tolerant control framework for a near space aircraft with disturbances and parameter uncertainty by considering the problem of robust fault-tolerant control after the aircraft has actuator and control surface faults. A system can acquire the fault information of an actuator in real time. A self-adaptive sliding mode observer is designed for an attitude angular velocity loop. A designed observer has strong robustness, does not need to know the upper bound of the uncertainty or the disturbances. The information of a control surface damage fault and the disturbance information are fully implied. A fault-tolerant controller is designed based on an observer model. Through a designed fault-tolerant control system, robust fault-tolerance control is realized under the conditions of various different types of faults and multiple faults. The designed method is respectively applied to posture stabilization control and tracking control of the near space aircraft in the presence of actuator and control surface faults, and flight posture robust fault-tolerant control is realized.

The invention relates to a dynamic control reallocation based unmanned aerial vehicle attitude fault-tolerance control method. According to the method, dynamic inversion control is adopted, an attitude angle rate loop dynamic equation corresponding to a near-space vehicle is given firstly, further a control surface stuck and damage model is established, then an adaptive sliding mode observer is designed according to the control surface stuck and damage model of an attitude angle rate loop, the attitude angle rate loop and a designed observer dynamic equation are simultaneous, an angle loop controller and an angle rate loop controller are designed, a designed fault-tolerance control system does not need accurate damage information, interference information and the like which are all implied in the designed adaptive sliding mode observer, the implicit information is fed back to a pseudocontrol control law and an online reallocation algorithm LMI in real time so as to realize robust fault-tolerance control, the designed method is applied to attitude stabilization control and tracking control of the near-space vehicle under the condition of control surface faults, and flight attitude robust fault-tolerance control is realized.

A fault-tolerant control system and method for variable-speed variable-pitch wind turbines with an inverter-fed generator. When generator faults are detected, the generator torque and / or flux is limited to prevent propagation of the faults and possible failure and shutdown of the generator. The control system and method improves on two-loop control methods for variable-speed variable-pitch wind turbines and provides improved power delivery under fault conditions.

The invention relates to a fault tolerance control system for a double three-phase permanent magnet synchronous motor when one phase is in open circuit. The fault tolerance control system consists of the double three-phase permanent magnet synchronous motor, a hardware driving circuit with fault isolation and tolerance functions as well as a novel fault tolerance control strategy. When any one phase of the double three-phase permanent magnet synchronous motor has faults, the system can cut off a fault phase in time, select the fault tolerance control strategy according to the running state of the motor before the faults occur and realize a fault tolerance control function of the double three-phase permanent magnet synchronous motor. The fault tolerance control system has the characteristics of simple hardware structure, high reliability and strong robustness; an optimal fault tolerance control strategy can be selected according to the running state of the motor before the faults occur and the excellent control performance of the system after the fault tolerance is realized is realized, and the like.

The invention discloses an internal-mode fault-tolerant control system and method for a support vector machine of a permanent-magnet synchronous linear motor. The system includes a fault-tolerant controller, a first PI (Proportional Integral) regulator, a second PI regulator, a Park inverse transformation module, a Clark inverse transformation module, an inverter, a magnetic flux linkage observation and switch module, a position detection module, a speed detection module and a six-phase permanent-magnet synchronous linear motor, wherein the fault-tolerant controller includes a normal internal-mode controller and a faulted internal-mode controller; the normal internal-mode controller consists of a normal controller and a support vector machine with a normal nominal model; and the faulted internal-mode controller consists of a faulted controller and a support vector machine with a faulted nominal model. The method comprises the following steps: when the six-phase permanent-magnet synchronous linear motor is fault-free, the magnetic flux linkage observation and switch module selects the support vector machine with the normal nominal model and the normal controller; and when a single-phase open-circuit fault occurs in the six-phase permanent-magnet synchronous linear motor, the magnetic flux linkage observation and switch module selects the support vector machine with the faulted nominal model and the fault controller.

The present invention discloses a permanent magnet synchronous motor (PMSM) fault diagnosis and fault-tolerant control system and method. The method can be used in motor medium-high speed running period. In PMSM field oriented control (FOC), position and speed information of a rotor, DC bus voltage and two or three current sensors are required. According to the PMSM fault diagnosis and fault-tolerant control system and method, an estimated rotor speed and an estimated resistance value are inputted into a decision making unit based on a model reference adaptive system (MRAS) observer capable of motor speed and resistance value identification, so that the fact that whether a motor position sensor goes wrong, an armature winding component open circuit fault and an inter-turn short circuit fault are identified. According to the PMSM fault diagnosis and fault-tolerant control system and method, the fact that whether a motor phase current sensor goes wrong, a fault location and fault status of the position sensor can be judged, when the position sensor goes wrong, the control system can switch to speed sensorless vector control automatically, so that the system has a certain fault-tolerant capability, and thus the system can ensure normal operation of the motor in some specific applications.

The utility model discloses a video fault tolerant control system, comprising a splitting element and a coding element and a transmitting element which are arranged on a sender, and a decoding element and a recovery element at a receiving end; wherein the splitting element is used to split a complete image frame of a video sequence into at least two subsequences; the coding element is used to code each of the subsequences independently into a code stream; the transmitting element is used to transmit the code stream of the subsequences to the receiving end respectively; the decoding element is used to decode the code stream of the subsequences; the recovery element recovers the original image frame according to the original split spatial relationship when all the subsequences are successfully decoded or the recovery element recovers the original image frame according to spatial interpolation calculation when parts of the subsequences are successfully decoded. The utility model also provides a relative method. The utility model has the advantages that the fault tolerant ability and the packet-loss resisting ability of video transmission as well as video playing fluency can be remarkably increased.

A fault-tolerant control system facilitates the closed loop control of a magnetron. The control system includes a transformer assembly for applying peak current to a magnetron, a pulse-forming network that conditions a transmit pulse, and a control circuit for adjusting the peak current applied to the magnetron. The control circuit includes a sample and hold circuit for comparing a signal representative of a detected peak current to a desired peak current level. The sample and hold circuit is coupled to a digital up / down counter circuit, and the output of the counter circuit is utilized to adjust the charge voltage of the pulse-forming network.

The invention discloses an intelligent fault-tolerant control system and a control method for zonal electric distribution of a full-electric boat. A full-electric boat power system is divided into a generator set control sub-system, an electric propulsion control sub-system, a power grid and a power distribution control sub-system of the power grid by a power distribution system; the control mode of each control sub-system is controlled by adopting an intelligent fault-tolerant control method of reference and model identification based on a neural network model; and the control method has a learning function and can be used for improving the control ability of each sub-system on the fault, so that the fault control ability of the full-electric boat power system is improved. With the adoption of a power supply sub-system and a power utilization sub-system of the designed boat power control system, flexible combination of power configuration of meeting navigation requirement of the boat can be achieved, and fault isolation and fault-tolerant control can be carried out. The power system structure and the fault-tolerant control method disclosed by the invention can adapt to safe and reliable requirements of the electric propulsion boat power system on the fault control.

A dual-redundant propulsion-by-wire control architecture with robust monitoring is presented to increase system availability without compromising safety. The dual-redundant controllers are able to cross-monitor and self-monitor. Self monitoring is effected at the application level and built-in system tests are performed. The monitor functions are set as high priority tasks. The first controller controls operation of a first propulsion system, monitors operation of a second controller, and, self-monitors. The second controller controls operation of a second propulsion system, monitors operation of the first controller, and, self-monitors. Each controller is operable to identify faults occurring in the first and the second controller, and implement an alternate operating control scheme for the respective propulsion system when a fault is identified. The first controller is signally connected to the second controller by substantially redundant communications buses.

The invention discloses a transverse robust fault-tolerant control system and method for a four-wheel steering automatic driving automobile, and belongs to the field of driverless automobiles. The method comprises acquiring driving motion state information and road position information of the four-wheel steering automatic driving automobile in real time through a vehicle-mounted INS module and a vehicle-mounted vision module, and fusing the driving motion state information and the road position information; establishing a transverse control model of the four-wheel steering automatic driving automobile for describing actuator faults, parameter uncertainty and external interference; designing a transverse robust H-infinity fault-tolerant control method to overcome influence of parameter uncertainty of the four-wheel steering automatic driving automobile under the actuator fault condition, ensure asymptotic convergence of error tracking, keeping the stability and riding comfort, and achieving transverse robust fault-tolerant control over the four-wheel steering automatic driving automobile. The transverse tracking performance of the system can be enhanced, so that the automobile canstill accurately run on an expected road when a steering actuator breaks down.

The invention relates to a fault-tolerant control system which comprises a main MCU (Microprogrammed Control Unit), a slave MCU and a switching control device, wherein the main MCU is connected with the switching control device, the slave MCU is connected with the switching control device, and the switching control device is used for switching a power supply between the main MCU and the slave MCU when the main MCU has a fault. When the main MCU has a fault, the power supply is switched to the slave MCU, and the slave MCU is used for controlling a vehicle brake system, therefore, the fault-tolerant function of a linear control brake system is realized and the safety, and the reliability of vehicles are improved.

The invention discloses a data drive system state model online distinguishing method based on multi-combination classifiers. The method is used for solving the technical problem that an existing data drive system state model online distinguishing method has modeling difficultly. According to the technical scheme, in combination with analysis of aircraft historical monitoring data and system operating characteristics, through design and training of the multi-combination classifiers, real-time measured data is analyzed and classified, and operating state models of all systems of an aircraft are obtained through distinguishing. The technical problem that due to the high complexity degree of the systems, physical models cannot be directly used for erecting mathematical models is solved. In the distinguishing process, due to the fact that the classifiers are designed and trained in advance, the distinguishing time of real-time models is short, online distinguishing of system state models can be achieved, the models reflect whether the operating aircrafts breaks down or not and the type and degree of the fault, and great significance is achieved for research such as system real-time state monitoring, fault-tolerant control system design and fault recovery.

The invention discloses an adaptive fault-tolerant control system and method for a rotary transformer of a PMSM driving system. The adaptive fault-tolerant control system is characterized by comprising a quadrature-axis current pulsation component acquisition module, a fault mode decoupling and separating module, a fault degree acquisition module and a position deviation calculation and compensation module. By adoption of the adaptive fault-tolerant control system and method, fault mode positioning and separating and fault degree acquisition can be realized after the rotary transformer suffers from orthogonal imperfection and amplitude imbalance faults, and adaptive fault-tolerant control of the PMSM driving system after the faults also can be realized, thereby realizing safe and reliable operation of the PMSM driving system.

The invention relates to a displacement sensor fault-tolerant control system and method of an active electromagnetic bearing, and belong to the technical field of magnetic bearing sensor control. Thedisplacement sensor fault-tolerant control system comprises a displacement estimator, a fault detector and a switcher; the displacement estimator estimates rotor displacement in real time; the fault detector detects a sudden fault of a displacement sensor; and the switcher selects one-way signal in a rotor displacement signal from the displacement sensor and a rotor displacement estimation signalfrom the displacement estimator to be sent to a controller. The sudden fault of the displacement sensor is quickly detected through specially-designed wavelet filter, the rotor displacement signal isprovided after the sensor fault through a self-sensing technology of the active electromagnetic bearing, thus under the premise of not increasing the number of the displacement sensor and changing anelectromagnetic bearing body structure, the situation that the electromagnetic bearing loses efficacy due to the fault of the displacement sensor is avoided, and stable operation of the electromagnetic bearing is guaranteed. According to the method, the using efficiency of system hardware is greatly improved, and the cost is lowered.

The invention discloses a method for controlling fault tolerance of an axial magnetic field flux-switching permanent motor of an electric vehicle, and aims at enabling the axial magnetic field flux-switching permanent motor to run in a fault tolerance state in case of single-phase breaking; the fault state is determined according to the phase, and the id=0 control strategy is carried out to an axial magnetic field flux-switching permanent motor fault tolerance system to distribute current of a d axis and a q axis during normal operation; in case of fault due to single-phase breaking, id=0 is continuously kept, the fault tolerance is controlled, and the currents of the d axis and the q axis are coordinately distributed, so as to enable the motor to run in the fault tolerance state. With the adoption of the axial magnetic field flux-switching permanent motor fault tolerance system, the motor can be switched from the fault state into the fault tolerance operation state, thus the influence of the fault on the motor operation can be effectively reduced, and as a result, the reliability of a motor driving system is improved.

The invention discloses a method for controlling fault tolerance of a magnetic flux switching motor of a hybrid excitation axial magnetic field, and aims at enabling a motor control system to run with fault tolerance under single-phase fault of an inverter. The method is that the fault is determined according to the current; when in normal operation, the id=0 control strategy is performed for the hybrid excitation axial magnetic field magnetic flux switching motor fault tolerance control system, and d axis current and q axis current are distributed; in case of single-phase breaking fault, the excitation current is utilized for fault tolerance control, the id is continuously kept to be 0, the q axis current and the excitation current are coordinately distributed and then the motor runs in the fault tolerance state. With the adoption of the hybrid excitation axial magnetic field magnetic flux switching motor fault tolerance control system, the motor can run in the fault tolerance state under the single phase breaking of the inverter, and therefore, the reliability of a motor driving system of an electric vehicle can be improved.