Case Study: Implementation of Sensor Fault Reconstruction Schemes
In this chapter the real time implementation of the sensor fault reconstruction schemes (for FDI and FTC) from the previous chapter, on a laboratory crane and a small DC-motor rig, will be discussed. These rigs provide cheap, safe and practical demonstrators for the ideas presented in the previous chapters. The data collection and (subsequent) controller implementation has been achieved using Matlab ® and dSPACE®. Estimates of the sensor faults, obtained from online sliding mode FDI schemes have been used to correct the measured outputs from the sensors. The ‘virtual sensors’ have been used in the control algorithm to form the output tracking error signal which is processed to generate the fault tolerant control signal.
KeywordsReconstruction Signal Sensor Fault Symmetric Positive Definite Matrix Distribution Matrix Slide Mode Observer
The authors are extremely grateful to Peter Barwell, Peter Clarke and David Dryden for their considerable assistance in the development and maintenance of the laboratory crane rig. The efforts of Justin Lado Lomoro in terms of the data collection for the crane are acknowledged.
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