• Transactions of the Korean Society of Automotive Engineers
• /
• v.14 no.5
• /
• pp.1-8
• /
• 2006

The Steer-By-Wire(SBW) system replaces complex mechanical linkages of the current steering system with electric motors, sensors, and electronic control units. However, the SBW system should guarantee its safety and reliability before commercialization, and therefore, a reliable and robust fault-tolerant technology has to be implemented. This paper proposes a fault-tolerant control algorithm for the SBW system. Based on careful analysis on propagation effects of sensor faults, a reliable fault-tolerant control strategy has been developed. The fault-tolerant controller consists of a fault detection part that monitors and detects faults in the steering wheel and road wheel sensors, and a reconfiguration part that switches to normal sensor signal based on fault detection information. It has been demonstrated by simulation that the proposed algorithm detects sensor faults accurately and enables reliable steering control under various dynamic fault situations.

• Nuclear Engineering and Technology
• /
• v.44 no.4
• /
• pp.421-428
• /
• 2012

Analog instrument and control systems in nuclear power plants have recently been replaced with digital systems for safer and more efficient operation. Digital instrument and control systems have adopted various fault-tolerant techniques that help the system correctly and safely perform the specific required functions regardless of the presence of faults. Each fault-tolerant technique has a different inspection period, from real-time monitoring to monthly testing. The range covered by each faulttolerant technique is also different. The digital instrument and control system, therefore, adopts multiple barriers consisting of various fault-tolerant techniques to increase the total fault detection coverage. Even though these fault-tolerant techniques are adopted to ensure and improve the safety of a system, their effects on the system safety have not yet been properly considered in most probabilistic safety analysis models. Therefore, it is necessary to develop an evaluation method that can describe these features of digital instrument and control systems. Several issues must be considered in the fault coverage estimation of a digital instrument and control system, and two of these are addressed in this work. The first is to quantify the fault coverage of each fault-tolerant technique implemented in the system, and the second is to exclude the duplicated effect of fault-tolerant techniques implemented simultaneously at each level of the system's hierarchy, as a fault occurring in a system might be detected by one or more fault-tolerant techniques. For this work, a fault injection experiment was used to obtain the exact relations between faults and multiple barriers of faulttolerant techniques. This experiment was applied to a bistable processor of a reactor protection system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.4
• /
• pp.254-260
• /
• 2000

This paper deals with the development of fault tolerant control for a nonlinear boiler system with noise and disturbance. The MCMBPC(Multivariable Constrained Model Based Predictive Control) is adopted for the control of the specific boiler turbin model. The fault detection and diagnosis are accomplished with the Kalman filter and two bias estimators. Once a fault is detected, two Bias estimators are driven to estimate the fault and to discriminate Process fault and sensor fault. In this paper, a fault tolerant control scheme combining MCMBPC with a fault compensation method based on the bias estimator is proposed. The proposed scheme has been applied to the nonlinear boiler system and shown a satisfactory performance through some simulations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.10
• /
• pp.755-767
• /
• 2003

This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.367-371
• /
• 1990

In this paper, a real-time fault tolerant control system has been designed for the cooling system of the spent fuel pool storage. The fault tolerant control system consists of the fault detection part, the redundant actuator part(main and backup pumps) and the controller implemented on programmable. logic controller. This paper considers only the actuator fault whose detection is accomplished using Friedland's separated bias estimation method. This paper also shows the real-time experimental results from which it can be concluded that the designed fault tolerant control system exhibits satisfactory performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.87-87
• /
• 2000

In this paper, an integrated design of fault detection, diagnosis and reconfigurable control tot multi-input and multi-output system is proposed. It is based on the interacting multiple model estimation algorithm, which is one of the most cost-effective adaptive estimation techniques for systems involving structural and/or parametric changes. This research focuses on the method to recover the performance of a system with failed actuators by switching plant models and controllers appropriately. The proposed scheme is applied to a fault tolerant control design for flight control system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.358-361
• /
• 1996

In this paper, we discuss decentralized optimal fault tolerant supervisory control issues on the basis of failure analysis and diagnosis from the angle of discrete event dynamic system. We address the detectability and the observability problems, and develope fault tolerant supervisory control system upon the failure analysis and diagnosis schemes. A complete min-cut is introduced and the procedure for finding the achievable or nonachievable layered optimal legal sublanguages is suggested for a preferential option among the reachable states in the controlled plant. A layered optimal supervisory control framework is proposed upon these. We extend the concept of decentralized supervisory control by considering the problem of combination of decentralized with centralized control in case pure decentralized control happens to be inadequate. We introduce the concept of locally controllable pair and present a hybrid decentralized supervisory control framework. Finally, we propose the analytical framework for a decentralized optimal fault tolerant supervisory control systems.

• Proceedings of the KSR Conference
• /
• 1999.05a
• /
• pp.299-306
• /
• 1999

The ${\mu}$-processor based-controlled system is widely used in railway signaling system. The railway signaling systems are highly required safety and reliability. It is necessary to have a fault-tolerant and fail safe concept in ${\mu}$-processor based railway signaling system. In this paper, several architectures and circuits of fault-tolerant computer system is reviewed. The basic concept of the fault-tolerant computer system will be adapted total self checking, strong fail safe, fault display circuit, logic testing circuit and system switching concepts.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.11
• /
• pp.1180-1188
• /
• 2008

As many systems depend on electronics, concern for fault tolerance is growing rapidly in the safety critical system such as intelligent vehicle. In order to make system fault tolerant, there has been a body of research mainly from aerospace field including predictive hybrid redundancy by Lee. Although the predictive hybrid redundancy has the fault tolerant mechanism to satisfy the fault tolerant requirement of safety crucial system such as x-by-wire system, it suffers form the variability of prediction performance according to the input feature of system. As an alternative to the prediction method of predictive hybrid redundancy for robust fault tolerant, Kalman prediction has attracted some attention because of its well-known and often-used with its structure called Kalman hybrid redundancy. In addition, several numerical simulation results are given where the Kalman hybrid redundancy outperforms with predictive smoothing voter.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.18 no.4
• /
• pp.8-17
• /
• 2010

In this paper, a fault tolerant control against sensor faults of electric parking brake (EPB) is proposed. Fault tolerant control method of EPB system is strongly demanded since sensor faults can endanger a driver's safety. In this paper, a clamp force estimation method is presented using motor's armature current and angular velocity. Clamp force estimation method is applied for fault detection method with parity equations. The goal of the detection method is to detect and identify faults in encoder, current sensor, force sensor, and parking cable. And a switching logic for fault tolerant control against the three sensor faults is suggested. Experimental results show that the proposed force estimation method satisfies the specifications of EPB system. The effectiveness of the fault detection method is validated with experimental results. Although a single sensor fault happens, EPB system with the proposed fault detection method does not develop into a failure on subsystem or system level.