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Fault Tolerant Control (FTC) systems are crucial in industry to ensure safe and reliable operation, especially of motor drives. This paper proposes the use of multiple controllers for a FTC system of an induction motor drive, selected based on a switching mechanism. The system switches between sensor vector control, sensorless vector control, closed-loop voltage by frequency (V/f) control and open loop V/f control. Vector control offers high performance, while V/f is a simple, low cost strategy with high speed and satisfactory performance. The faults dealt with are speed sensor failures, stator winding open circuits, shorts and minimum voltage faults. In the event of compound faults, a protection unit halts motor operation. The faults are detected using a wavelet index. For the sensorless vector control, a novel Boosted Model Reference Adaptive System (BMRAS) to estimate the motor speed is presented, which reduces tuning time. Both simulation results and experimental results with an induction motor drive show the scheme to be a fast and effective one for fault detection, while the control methods transition smoothly and ensure the effectiveness of the FTC system. The system is also shown to be flexible, reverting rapidly back to the dominant controller if the motor returns to a healthy state.

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The principle of vector control of electrical machines is to control both the magnitude and the phase of each phase, current and voltage. MATLAB/Simulink has been performed for assessment of operating features of the proposed scheme. Proportional Integral (PI) speed controller is designed in this paper. Test response of the developed variable speed drive along with the simulated response is given and discussed in detail for torque and speed. Fault tolerant fundamental is applied to the system when it is subject to a system fault. Two faults are investigated in this paper, stator short winding and broken rotor bar. The induction motor operates with acceptable performance in both speed and torque. The induction motor modeling along with the vector control fault tolerant scheme is investigated to show the optimal response of the control system

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The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along the end-effector path. MATLAB/SIMULINK with R2018b is used for the implementation of the model-based robot system. Simulation results showed that the robot rinks follow their references smoothly and precisely and ensure the effectiveness of direct kinematic algorithm in the analysis and control of the robotic field.