Fault diagnosis and fault tolerant control of DC motor driving system

摘要

An integrated robust fault diagnosis and accommodation strategy against the actuator or the sensor fault is given for a DC motor driving system. The scheme is based on the fault isolation and estimation using a bank of the robust two-stage Kalman filters and introduction of the additive control input for compensating the fault's effect on the system. Simulation results for the DC motor driven gum/turret system model with friction variation, parameter uncertainties, process and sensor noises show the effectiveness of the present approach.