An Actuator Failure Tolerant Control Scheme for on Underwater Remotely Operated Vehicle

Guide:Vinod.B.R

Presented by, VISAKH.V M1 AEI Roll No 12

CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results References
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INTRODUCTION

What is an ROV? What are the challenges? Actuator Failure Tolerant Control Scheme Usual Modules How this paper is organized?

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Mathematical Model of ROV

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M mIz iz Mc

Vehicle mass Addition mass Vehicle inertia moment around the z axis Addition inertia moment Resistance moment of the cable.

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Forces produced by the cable traction corresponding to a submarine current of velocity Vc with

L cable length Tv - vehicle weight in the water W - weight for unit length of cable

w -

water density

Cdc - drag coefficient of the cable Dc cable diameter

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Rx and Ry are the drag forces along the x and y axes

Cdi drag coefficient of the ith side wall Cri the packing coefficient Si area of the ith side wall

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Md and Mr are the components of the drag torque around the z axis produced by the vehicle rotation and by the current

Cd drag coefficient of rotation Cr - packing coefficient of rotation S - equivalent area of rotation d1,d2,d3 vehicle dimensions along xa, ya and za axes c angle between x axis and the velocity direction of current
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Substituting (2) to (5) in (1),

where the coefficients pi are tied to the physical characteristics of the vehicle as given in table 1.

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State Space ROV Model

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Input Decoupling Transformation

What is sliding mode control?

General Case

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For the transformed system

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Theorem 3

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Which implies asymptotic vanishing of the tracking error. In order to achieve sliding mode on (18) . The following inequality needs to be imposed. It can be fulfilled imposing separately v inequalities. Each inequality gives

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ROV : Nonlinear State Transformation

Rewriting 9 by fixing kth thruster, uk is the input

Nonlinear change of coordinates

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Applying transformation one gets the following equation

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With k=1 we will get the following equation

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ROV: Sliding Mode Control Law

The result in theorem3 will be applied here with k=1. The control law is aimed at solving the regulation problem for z1,z2,z3 with respect to their references.
Define

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The achievement of sliding motion on (18) requires the following condition:

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The following control law for T2:

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Fault Tolerant Control Scheme

1. 2.

3.

4.

A FD unit based on residual analysis A FI unit monitoring the three decoupled sliding surfaces, each of which is affected by a unique thruster. A supervisor, in charge of performing the control reconfiguration among the available set of redundant inputs. A robust sliding mode based control law designed on a decoupled model of the ROV.

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Abrupt Fault

Incipient Fault

Assumption: Only one of the four thrusters can undergo a fault. i.e, multiple thruster faults cannot be admitted.

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Fault Detection: The Residual Generator Module

This module uses Structural Analysis.

X Subset of the unknown variables K Subset of the known variables

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The CUSUM algorithm is chosen to design the decision module of the failure detection system of the ROV.
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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Fault Isolation

Sliding Mode Controller can be exploited to perform fault isolation

If |si| 0 , then Ti is failed.

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Control Reconfiguration
Control is reconfigured by fixing the failed thruster and by using the other three healthy actuators.

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CONTENTS

Introduction Mathematical Model of the ROV a) ROV Nonlinear Model b) State Space ROV Model Input Decoupling Transformation and Sliding Mode Control Design a) General Case b) ROV Case Study : The Nonlinear State Transformation c) ROV Case Study : Sliding Mode Control Law Fault Tolerant Control Scheme Fault Detection : The Residual Generator Module Fault Isolation Control Reconfiguration Simulation Results
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Simulation Results
Abrupt fault

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Incipient Fault

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References

M. Blanke, H. Niemann, and T. Lorentzen, Structural analysisA case study of the rmer satellite, in Proc. IFAC Safeprocess, Washington,DC, 2003. V. Cocquempot, R. Izadi-Zamanabadi,M.Staroswiecki, andM.Blanke,Residual generation for the ship benchmark using structural approach,in Proc. UKACCInt. Conf. (Conf. Publ. 455), 1998, pp. 14801485. V. Utkin, Sliding Modes in Control Optimization. Berlin, Germany:Springer Verlag, 1992. Sliding Mode Control: Theory and Applications by Christopher Edwards, and Sarah K. Spurgeon. Applied Nonlinear Control by Jean-Jacques E.Slotine , and Weiping Li.

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