FAULT TOLERANT METHOD ON POSITION CASCADE CONTROL OF DC SERVO SYSTEM

摘要

The fault of the positioning servo system due to actuator and sensor faults can endanger users and the surrounding environment; even the existing control system has a good performance to position precisely something, such as a position cascade control system. In this paper, a fault tolerant control (FTC) system has been implemented to tolerate faults automatically when the faults on actuator and sensor component of DC modular servo system have occurred. The proposed design consisted of both observers working to estimate actuator fault and later sensor fault, as well as the fault compensation mechanism that has functioned as an occurred fault corrector. The results have showed that FTC system could maintain the performance of the cascade control system of a DC modular servo system with the values of maximum overshoot, settling time, and error steady state that have been smaller than the ones without fault compensation.