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Modelling and control of a high redundancy actuator

journal contribution
posted on 2023-06-08, 13:49 authored by X Du, R Dixon, R M Goodall, A C Zolotas
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

History

Publication status

  • Published

File Version

  • Accepted version

Journal

Mechatronics

ISSN

0957-4158

Publisher

Elsevier

Issue

1

Volume

20

Page range

102 - 112

Department affiliated with

  • Engineering and Design Publications

Notes

Special issue on “Servo Control for Data Storage and Precision Systems”, from 17th IFAC World Congress 2008.

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-11-20

First Compliant Deposit (FCD) Date

2013-09-26

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