Accommodation of Actuator Fault using Local Diagnosis and IMC-PID

• Published in: International journal of control, automation, and systems pp. 1139 - 1149
• Main Authors: 김동길, 이동익, 칼리아나 차크라바르띠 벨루볼루
• Format: Journal Article
• Language: English
• Published: 제어·로봇·시스템학회 01.12.2014
• Subjects: 제어계측공학
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-013-0325-0

This paper presents an Internal Model Control (IMC) based PID control system architecture that can tolerate faulty actuators in a networked environment. The proposed control architecture contains several smart actuating nodes which are interconnected by a fieldbus network. In the case of a fault with an actuator, the proposed method recalculates the IMC-PID control parameters through an iterative optimization process utilizing the diagnostic information. The diagnostic information, being generated locally by each actuator, includes an actuation performance index, called condition data, representing the device status. The effectiveness of the proposed method is verified with a Hardware-in-the-Loop (HIL) simulator for a crane system, consisting of DC motors, several computing nodes, and a CAN bus network. KCI Citation Count: 4