• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.127.1-127
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• 2001

In this paper we propose an input/output model based fault diagnosis method to detect and isolate single faults in the robot arm control system. The proposed algorithm is functionally composed of three main parts-parameter estimation, fault detection, and isolation, When a change in the system occurs, the errors between the system output and the estimated output cross a predetermined threshold, and once a fault in the system is detected, and in this zone the estimated parameters are transferred to the fault classifier by ART2(adaptive resonance theory 2) neural network for fault isolation. Since ART2 neural network is an unsupervised neural network fault classifier does not require the knowledge of all possible faults to isolate the faults occurred in the system. Simulations are carried out to evaluate the performance of the proposed ...

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1997년도 추계학술대회 발표논문집:21세기를 향한 정보통신 기술의 전망
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• pp.417-433
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• 1997

A real-time operating system has focused primary on techniques to minimize processing time, with a secondary emphasis on system reliability issues. Conversely, fault-tolerant system has concentrated on using recourse and information redundancy to maximize the availability and reliability of the system, with a lesser emphasis on performance. We have developed a fault-tolerant and real-time operations system which support a powerful concurrent runtime environment under the above requirements. In this paper, we present an overview of real-time systems, design and implementation of a duplex architecture using advanced concepts and technologies such as fast " fault detection", "fault isolation" and "fault recovery" Because the duplex architecture has two dentical hardware elements and has several recovery steps and hierarchy to facilitate a fast recovery which must be proceeded by a prompt fault detection and isolation. Thus it makes possible to minimize the overhead of the systems including hardware and software and guarantee the service continuity of he systems.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.928-934
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• 2002

A natural way to cope with fault tolerant control (FTC) problems is to modify the control parameters according to an online identification of the system parameters when a fault occurs. However. due to not only difficulties Inherent to the online multivariable identification in closed-loop systems, such as modeling errors, noise or the lack of excitation signals, but also long time requirement to identify the post-fault system and implemeutation of control problems during the identification process, we propose an alternative approach based on the observer-based fault detection and isolation (FDI) and model reference adaptive control (MRAC). The proposed robust fault diagnosis method is based on a bank of observers. We also propose a model reference adaptive control with changeable reference models according to the occurred faults. Simulation results of a flight control example show the validity and applicability of the proposed algorithms.

• Smart Structures and Systems
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• 제8권5호
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• pp.501-524
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• 2011

Recent studies have discovered that a conventional passive isolation system may suffer from an excessive isolator displacement when subjected to a near-fault earthquake that usually has a long-period velocity pulse waveform. Semi-active isolation using variable friction dampers (VFD), which requires a suitable control law, may provide a solution to this problem. To control the VFD in a semi-active isolation system more efficiently, this paper investigates experimentally the possible use of a control law whose control logic is similar to that of the anti-lock braking systems (ABS) widely used in the automobile industry. This ABS-type controller has the advantages of being simple and easily implemented, because it only requires the measurement of the isolation-layer velocity and does not require system modeling for gain design. Most importantly, it does not interfere with the isolation period, which usually decides the isolation efficiency. In order to verify its feasibility and effectiveness, the ABS-type controller was implemented on a variable-friction isolation system whose slip force is regulated by an embedded piezoelectric actuator, and a seismic simulation test was conducted for this isolation system. The experimental results demonstrate that, as compared to a passive isolation system with various levels of added damping, the semi-active isolation system using the ABS-type controller has the better overall performance when both the far-field and the near-fault earthquakes with different PGA levels are considered.

• 한국항공우주학회지
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• 제37권12호
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• pp.1225-1231
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• 2009

인공위성의 반작용 휠 클러스터는 보통 4개의 반작용 휠로 구성이 된다. 각각의 반작용 휠은 인공위성의 자세 축과 일치하게 배치되지 않기 때문에 하나의 반작용 휠에 고장이 일어난 경우 반작용 휠 자체의 센서를 이용한 방법 외에는 고장 분리가 매우 어렵다. 본 논문에서는 이중 필터를 이용하여 고장 검출에 효과적인 파라미터를 구성하고, 인공위성의 반작용 휠 각각이 정지 고장을 일으킬 경우를 가정하여 이중 필터와 다중 가설 필터를 이용하여 반작용 휠의 고장분리기를 설계하였다. 또한 이를 4개의 반작용 휠로 자세제어가 이루어지는 인공위성 시스템에 적용한 시뮬레이션으로 고장 검출 및 분리 성능이 향상되는 것을 검증하였다.

• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.706-712
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• 2014

The inverters used to drive Brushless DC motors (BLDC) include switching devices such as FETs and the faults in FETs cause severe performance degradation in systems where a BLDC acts as actuator. This paper presents a fault detection and isolation method for the FETs of an inverter for BLDC motor control systems, which is based on the EKF (Extended Kalman filter). Firstly, an equivalent circuit model for a BLDC motor plus its inverter system was derived. Secondly, a state-space equation was established, where the on-resistance of the FETs is expressed as a state variable and the EKF equation estimates the on-resistance. If the estimated resistance differs greatly from the known value, it can be asserted that there is a fault on that FET. Thirdly, the local convergence of the established EKF was proved. Finally, through the experiments, the performance of the proposed method was verified. The results show that the on-resistance is estimated close to the value specified in the FET data sheet in normal operation, whereas the estimated resistance is a much larger value than the normal one in case an FET fault occurs. Therefore, it is confirmed that the proposed fault detection and isolation method works appropriately in real systems.

• 대한전기학회논문지:전력기술부문A
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• 제48권1호
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• pp.52-60
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• 1999

This paper deals with a fault detection and isolation scheme for a DC motor driven centrifugal pump system. The emphasis is placed on the design and implementation of the residual generatorm, based on parity relation, that provides decision logic unit with residuals that will be further processed to detect and isolate three important faults in the system;brush fault, impeller fault, and the speed sensor fault. Two process faults are modelled as multiplicative type faults, while the sensor fault as an additive one. With multiplicative fault, the implementation of the residual generator needs the time varying transformation matrix that must be computed on-line. Typical implementation methods lack in generality because only a numerical approximation around the assumed fault levels is employed. In this paper, a new implementation method using well tranined neural network is proposed to improve the generality of the residual generator. Application results show that the fault detection and isolation scheme with the proposed residual generator effectively isolates three major faults in the centrifugal pump system even with a wide range of fault magnitude.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1949-1952
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• 2004

GPS is widely used for outdoor positioning in many applications. But it is not suitable for positioning in an obstacle environment such as urban area, tunnels and so on, due to variable signal level. So new technology of the positioning is required to provide the consistent error level regardless of any changes in any environment. Abrupt changes of GPS signal can be detected by various fault detection and isolation methods. Conventional FDI (Fault Detection and Isolation) methods are categorized into two approaches. One approach is the snapshot method that uses measurements only at present step. The other approach is the filtering method that uses measurements stacked from previous step to present step. The FDI result of the snapshot method can be considered reliable independently with previous results and the FDI result of the filtering method is more reliable and detection time is a little longer. Therefore combining approach of two methods is proposed for increasing FDI performance in this paper. Three approaches that are the snapshot method, the filtering method and the combining method are compared to show the probability of correct FDI in simulations. The combining approach presents best result of FDI among them and shows the consistent accuracy irrespective of any changes in outdoor environment.

• 전자공학회논문지SC
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• 제39권1호
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• pp.24-32
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• 2002

본 논문은 다중 컴퓨터 시스템(multicomputer system)에서 사용되는 상호연결망(interconnection network)의 일종인 다단계 상호연결망(multistage interconnection network)에서의 고착고장(stuck-at fault)과 관련된 고장진단(fault diagnosis)에 대해 고찰한다. 지금까지 연구된 바에 의하면 다단계 상호연결망의 고장을 검출하고 위치를 찾기 위채서는 각 고장의 유형에 따라 서로 다른 다수의 과정을 거치거나 몇 번의 테스트를 통한 진단기법을 필요로 한다. 이에 본 논문에서는 단일과정을 통해 대표적인 고착고장의 유형을 검출하고 위치를 찾아내는 고장진단 알고리즘을 제안한다. 즉, 고착고장이 존재하는 임의의 다단계상호연결망에 대하여 고장 스위치 소자의 행과 열의 위치정보 및 고착고장의 유형진단 알고리즘을 제시한다. 마지막으로 다단계 상호연결망의 일종인 16×16 베이스라인 망(baseline network)에서 고착고장이 발생한 스위치의 위치와 유형을 찾는 과정을 통해 제안하는 알고리즘의 효용성을 검증한다.

• Earthquakes and Structures
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• 제12권1호
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• pp.135-144
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• 2017

Near-fault ground motions are characterized by high values of the ratio between the peak of vertical and horizontal ground accelerations, which can significantly affect the nonlinear response of a base-isolated structure. To check the effectiveness of different base-isolation systems for retrofitting a r.c. framed structure located in a near-fault area, a numerical investigation is carried out analyzing the nonlinear dynamic response of the fixed-base and isolated structures. For this purpose, a six-storey r.c. framed building is supposed to be retrofitted by insertion of an isolation system at the base for attaining performance levels imposed by current Italian code in a high-risk seismic zone. In particular, elastomeric (e.g., high-damping-laminated-rubber bearings, HDLRBs) and friction (e.g., steel-PTFE sliding bearings, SBs, or friction pendulum bearings, FPBs) isolators are considered, with reference to three cases of base isolation: HDLRBs acting alone (i.e., EBI structures); in-parallel combination of HDLRBs and SBs (i.e., EFBI structures); FPBs acting alone (i.e., FPBI structures). Different values of the stiffness ratio, defined as the ratio between the vertical and horizontal stiffnesses of the HDLRBs, sliding ratio, defined as the global sliding force divided by the maximum sliding force of the SBs, and in-plan distribution of friction coefficient for the FPs are investigated. The EBI, EFBI and FPBI base-isolation systems are designed assuming the same values of the fundamental vibration period and equivalent viscous damping ratio. The nonlinear dynamic analysis is carried out with reference to near-fault earthquakes, selected and scaled on the design hypotheses adopted for the test structures.