This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom (6-DOF). The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn (LQG) with reference tracking. The LQG controller is the combination of a Kalman filter, i.e., a linear-quadratic estimator (LQE) with a linear-quadratic regulator (LQR). The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.
• This is a conference paper, it was presented at SafeProcess Abstract: This paper discusses research carried-out on the development and validation (on a real plant) of a parity-equation and Kalman filter based fault detection and isolation (FDI) system for a pneumatic actuator. The parity and Kalman filter equations are formulated and used to generate residuals that, in turn, are analysed to determine whether faults are present in the system. Details of the design process are given and the experimental results are compared. The results demonstrate that both approaches can successfully detect and isolate faults associated with the sensors, actuators (servo-valves and piping) and the pneumatic cylinder itself. The work is part of a BAE SYSTEMS sponsored project to demonstrate advanced control and diagnosis concepts on an industrial application.
Abstract:In safety critical applications it is important to detect faults that may compromise system safety and to take appropriate action. This paper discusses research carried-out on the development and validation of a model-based fault detection and isolation (FDI) system for a pneumatically actuated Stewart platform. The FDI scheme is based on combining parityequation and Kalman filter based techniques. The parity and Kalman filter equations are formulated and used to generate residuals that, in turn, are analysed to determine whether faults are present in the system. Details of the design process are given and the experimental results are compared. The results demonstrate that both approaches when combined can successfully detect and isolate and in some cases accommodate faults associated with the sensors, actuators (servo-valves and piping) and the pneumatic system itself.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.