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A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

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  • Jing He
  • Changfan Zhang

Abstract

A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.

Suggested Citation

  • Jing He & Changfan Zhang, 2013. "A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-6, August.
    • Handle: RePEc:hin:jnlmpe:647571
    DOI: 10.1155/2013/647571
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