Active Fault Tolerant Nonsingular Terminal Sliding Mode Control for Electromechanical System Based on Support Vector Machine

Effective fault diagnosis and fault-tolerant control method for aeronautics electromechanical actuator is concerned in this paper.By borrowing the advantages of model-driven and data-driven methods,a fault tolerant nonsingular terminal sliding mode control method based on support vector machine(SVM)is proposed.A SVM is designed to estimate the fault by off-line learning from small sample data with solving convex quadratic programming method and is introduced into a high-gain observer,so as to improve the state estimation and fault detection accuracy when the fault occurs.The state estimation value of the observer is used for state reconfiguration.A novel nonsingular terminal sliding mode surface is designed,and Lyapunov theorem is used to derive a parameter adaptation law and a control law.It is guaranteed that the proposed controller can achieve asymptotical stability which is superior to many advanced fault-tolerant controllers.In addition,the parameter estimation also can help to diagnose the system faults because the faults can be reflected by the parameters variation.Extensive comparative simulation and experimental results illustrate the effectiveness and advancement of the proposed controller compared with several other main-stream controllers.

A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Typical faults and safety analysis of brake controller for AC locomotive

Purpose–The brake controller is a key component of the locomotive brake system.It is essential to study its safety.Design/methodology/approach–This paper summarizes and analyzes typical faults of the brake controller,and proposes four categories of faults:position sensor faults,microswitch faults,mechanical faults and communication faults.Suggestions and methods for improving the safety of the brake controller are also presented.Findings–In this paper,a self-judgment and self-learning dynamic calibration method is proposed,which integrates the linear error of the sensor and the manufacturing and assembly errors of the brake controller to solve the output drift.This paper also proposes a logic for diagnosing and handling microswitch faults.Suggestions are proposed for other faults of brake controller.Originality/value–The methods proposed in this paper can greatly improve the usability of the brake controller and reduce the failure rate.

Mineralization and Ore-controlling Implications of Low-angle Faults

Abstract Low-angle faults include those occurring in thrust-nappe structures in a compressive setting and the detachment of metamorphic core complexes in an extensional setting. All low-angle faults have their own particularities. The low-angle fault plays an important role in controlling over some endogenetic metallic ore deposits. Based on studies of the Xiaoban gold deposit, Xinzhou gold deposit, and Longfengchang polymetallic ore deposit, and comparisons with other mines, the authors conclude the ore-controlling implications of low-angle faults as follows. (1) Because of high temperature and high pressure, as well as strong ductile deformation, the internal energy of the elements rises in the large-scale deep ductile low-angle faults, which causes the elements to activate and differentiate from the source rocks, forming ore-bearing hydrothermal solution, and bring mineralization to happen. (2) When rising from depths and flowing along the low-angle faults, the ore-bearing hydrothermal solution will alter and replace the tectonites in the fault zone. The rocks of the hanging side and the heading side differ in lithology, texture and structure, which results in changes or dissimilarities of the physical-chemical conditions. This destroys the balance of the hydrothermal solution system and causes the dissolved ore-forming elements to precipitate; as a result, a deposit is formed. Therefore, the meso-shallow ductile-brittle low-angle faults play the role of a geochemical interface in the process of mineralization. (3) Low-angle faults are often one of the important host structures.

Adaptive Fixed-Time Control of Nonlinear MASs With Actuator Faults

The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this paper.To approximate the unknown nonlinear functions in MASs,radial basis function neural networks are used.In addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed time.With the help of the Nussbaum function,the actuator failure compensation mechanism is constructed.By designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of origin.Finally,the effectiveness of the proposed control method is verified by simulation examples.

Fault Detection for Motor Drive Control System of Industrial Robots Using CNN-LSTM-based Observers

The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.

Control of strike-slip faults on Sinian carbonate reservoirs in Anyue gas field, Sichuan Basin, SW China

The largest Precambrian gas field (Anyue gas field) in China has been discovered in the central Sichuan Basin. However, the deep ancient Ediacaran (Sinian) dolomite presents a substantial challenge due to their tightness and heterogeneity, rather than assumed large-area stratified reservoirs controlled by mound-shoal microfacies. This complicates the characterization of “sweet spot” reservoirs crucial for efficient gas exploitation. By analyzing compiled geological, geophysical and production data, this study investigates the impact of strike-slip fault on the development and distribution of high-quality “sweet spot” (fractured-vuggy) reservoirs in the Ediacaran dolomite of the Anyue gas field. The dolomite matrix reservoir exhibits low porosity (less than 4%) and low permeability (less than 0.5×10^(-3) μm^(2)). Contrarily, fractures and their dissolution processes along strike-slip fault zone significantly enhance matrix permeability by more than one order of magnitude and matrix porosity by more than one time. Widespread “sweet spot” fracture-vuggy reservoirs are found along the strike-slip fault zone, formed at the end of the Ediacaran. These fractured reservoirs are controlled by the coupling mechanisms of sedimentary microfacies, fracturing and karstification. Karstification prevails at the platform margin, while both fracturing and karstification control high-quality reservoirs in the intraplatform, resulting in reservoir diversity in terms of scale, assemblage and type. The architecture of the strike-slip fault zone governed the differential distribution of fracture zones and the fault-controlled “sweet spot” reservoirs, leading to wide fractured-vuggy reservoirs across the strike-slip fault zone. In conclusion, the intracratonic weak strike-slip fault can play a crucial role in improving tight carbonate reservoir, and the strike-slip fault-related “sweet spot” reservoir emerges as a unique and promising target for the efficient development of deep hydrocarbon resources. Tailored development strategies need to be implemented for these reservoirs, considering the diverse and differential impacts exerted by strike-slip faults on the reservoirs.

Effect of tectonic-climatic controllers on the transition of Endorheic to Exorheic Basins in the Zagros mountain range

Endorheic basins(ENBs) are inland drainage basins allowing no outflow to oceans.These basins in the active mountain chains of the convergence zones are under the influence of compressional tectonic activity and climate condition.The Zagros Mountains of Iran is one of the youngest convergence zones in which continental-continental collision has occurred.In this paper we hypothesize the formation of ENBs among the Zagros range after the epeirogenic stage in the Late Paleogene-Early Neogene.Due to tectonic activity and Quaternary climatic conditions,the ENBs pass the transition stage to exorheic,and still,some tectonic depressions are not linked to the evolutionary process of exorheic drainage of Zagros.The geometry of the drainage network of Kul and Mond basins in Fars arch shows that 67% of their water gaps are located along the thrusts and transverse basement faults in the east and west of the Fars arch.Geometrically,the Kul and Mond basins form triangles with their sides matching with the edges of the Arabian Plate where the major inherited faults of Arabian plate controls the shape of the Zagros basin and a low strain zone along the Razak fault with lower salt tectonic activity,where the wind gaps are created.The ENBs are located in the rainshadow slopes,but the Kul and Mond basins are located in the upwind slopes of rain waves.This factor and the heavy rains of the basin lead to increase of the erosion potential,destruction of depressions,and floods and consequently,the funnel-shaped gaps have a significant impact on the flood flow.

Integration of Fault Analysis and Interlock Controller Synthesis for Batch Processes

Integration amongst various decision-making processes, such as planning, design, and operation is necessary to dynamic and flexible batch production. To achieve a batch production integration, utilization of common models used for various decision-making processes is an effective approach. From this point of view, a batch system common model as described by a Petri net is proposed. In this article, a fault diagnosis technique for batch processes is presented using information about fault propagation and the possibilities of integration of fault analysis and controller synthesis are discussed on the basis of the Petri net based common models.

Coordinated Rotor-Side Control Strategy for Doubly-FedWind Turbine under Symmetrical and Asymmetrical Grid Faults

In order to solve the problems of rotor overvoltage,overcurrent and DC side voltage rise caused by grid voltage drops,a coordinated control strategy based on symmetrical and asymmetrical low voltage ride through of rotor side converter of the doubly-fed generator is proposed.When the power grid voltage drops symmetrically,the generator approximate equation under steady-state conditions is no longer applicable.Considering the dynamic process of stator current excitation,according to the change of stator flux and the depth of voltage drop,the system can dynamically provide reactive power support for parallel nodes and suppress the rise of DC side voltage and rotor over-current.When the grid voltage drops asymmetrically,the positive and negative sequence components are separated in the rotating coordinate system.The doubly fed generator model is established to suppress the rotor positive sequence current and negative sequence current respectively.At the same time,the output voltage limit of the converter is discussed,and the reference value is adjusted within the allowable output voltage range.In order to adapt to the occurrence of different types of power grid faults and complex operating conditions,a fast switching module of fault type detection and rotor control mode is designed to detect the type of power grid faults and voltage drop depth in real time and switch the rotor side control mode dynamically.Finally,the simulation model of the doubly fed wind turbine is constructed in Matlab/Simulink.The simulation results verify that the proposed control strategy can improve the low-voltage ride through performance of the system when dealing with the symmetrical and asymmetric voltage drop of the power grid and identify the power grid fault type and provide the correct control strategy.

Characteristics of boundary fault systems and its hydrocarbon controlling on hydrocarbon accumulation in Awati Sag,Tarim Basin,China

Based on the interpretation of two-dimensional seismic data, this paper analyzes the characteristics of three boundary fault systems including the Shajingzi fault, the Aqia fault and the Tumuxiuke fault around the Awati sag of the Tarim Basin, and studies its controlling on hydrocarbon accumulation. Neotectonic movement is ubiquitous in oil and gas bearing basins in China, such as Neogene intense activities of large boundary thrusting faults of the Awati sag: Shajingzi fault, Aqia fault and Tumuxiuke fault. Based on a large number of seismic data, it is showed that they have section wise characteristics in the direction of fault strike, and active periods and associated structures formed of different sections are different. Usually, large anticlinal structures are formed in the upper wall, and faulted anticline controlled by companion faults are formed in the bottom wall. Large faults cut the strata from Cambrian up to Neogene. For the anticline in the upper wall, fault activities caused by neotectonic movement played a destructive role in hydrocarbon accumulation, thus the preservation condition is critical for reservoir formation. In this sense, attention should be paid to formations in the upper walls of Aqia fault and Tumuxiuke fault under the Cambrian salt bed, whose plastic deformation could help to heal faults. Companion faults in the bottom wall cut down to the Cambrian and up to the Triassic serving as the pathway for hydrocarbon migration, and associated structures in the bottom wall are noteworthy exploration targets.

Reservoir controlling differences between consequent faults and antithetic faults in slope area outside of source: A case study of the south-central Wenan slope of Jizhong Depression, Bohai Bay Basin, East China

The control effects of different occurrence faults on oil and gas accumulation and distribution in the outer slope area of oil and gas reservoirs were studied taking the south-central Wen’an slope of the Jizhong depression in the Bohai Bay Basin as an example.Based on 3D seismic data and the distribution of oil and water,the controlling differences between consequent fault and antithetic fault were analyzed and compared from the formation and evolution rule of faults and the formation mechanism of fault traps,including development positions of the consequent fault traps and antithetic fault traps,oil and gas distribution horizon adjusted by fault and formation period of fault traps.The differences between consequent faults and antithetic faults in controlling reservoirs have three main aspects:(1)Consequent fault traps and antithetic fault traps are in different positions,the consequent fault traps are at the segmented growing point in the hanging wall of"hard-linkage"faults,while the antithetic fault traps are developed in the position with the largest throw in the footwall because of tilting action;(2)The two kinds of faults result in different oil and gas distribution vertically,oil and gas adjusted by consequent faults is distributed in a single layer or multi-layers,while oil and gas adjusted by antithetic faults occur in single layers;(3)The two kinds of fault traps are formed in different periods,the consequent fault traps are formed at the time when the related faults enter the stage of"hard-linkage",while the antithetic fault traps are formed at the beginning of the fault active period.

Fault tolerant synchronization of chaotic systems based on T-S fuzzy model with fuzzy sampled-data controller

In this paper the fault tolerant synchronization of two chaotic systems based on fuzzy model and sample data is investigated. The problem of fault tolerant synchronization is formulated to study the global asymptotical stability of the error system with the fuzzy sampled-data controller which contains a state feedback controller and a fault compensator. The synchronization can be achieved no matter whether the fault occurs or not. To investigate the stability of the error system and facilitate the design of the fuzzy sampled-data controller, a Takagi Sugeno （T-S） fuzzy model is employed to represent the chaotic system dynamics. To acquire good performance and produce a less conservative analysis result, a new parameter-dependent Lyapunov-Krasovksii functional and a relaxed stabilization technique are considered. The stability conditions based on linear matrix inequality are obtained to achieve the fault tolerant synchronization of the chaotic systems. Finally, a numerical simulation is shown to verify the results.

Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation

The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.

Robust fault-tolerant controller design for linear time-invariant systems with actuator failures:an indirect adaptive method

In this paper,indirect adaptive state feedback control schemes are developed to solve the robust fault-tolerant control （FTC） design problem of actuator fault and perturbation compensations for linear time-invariant systems.A more general and practical model of actuator faults is presented.While both eventual faults on actuators and perturbations are unknown,the adaptive schemes are addressed to estimate the lower and upper bounds of actuator-stuck faults and perturbations online,as well as to estimate control effectiveness on actuators.Thus,on the basis of the information from adaptive schemes,an adaptive robust state feed-back controller is designed to compensate the effects of faults and perturbations automatically.According to Lyapunov stability theory,it is shown that the robust adaptive closed-loop systems can be ensured to be asymptotically stable under the influence of actuator faults and bounded perturbations.An example is provided to further illustrate the fault compensation effectiveness.

Control Strategies for Digital Twin Systems

With the continuous breakthrough in information technology and its integration into practical applications, industrial digital twins are expected to accelerate their development in the near future. This paper studies various control strategies for digital twin systems from the viewpoint of practical applications.To make full use of advantages of digital twins for control systems, an architecture of digital twin control systems, adaptive model tracking scheme, performance prediction scheme, performance retention scheme, and fault tolerant control scheme are proposed. Those schemes are detailed to deal with different issues on model tracking, performance prediction, performance retention, and fault tolerant control of digital twin systems. Also, the stability of digital twin control systems is analysed. The proposed schemes for digital twin control systems are illustrated by examples.

Combinatorial reasoning-based abnormal sensor recognition method for subsea production control system

The subsea production system is a vital equipment for offshore oil and gas production.The control system is one of the most important parts of it.Collecting and processing the signals of subsea sensors is the only way to judge whether the subsea production control system is normal.However,subsea sensors degrade rapidly due to harsh working environments and long service time.This leads to frequent false alarm incidents.A combinatorial reasoning-based abnormal sensor recognition method for subsea production control system is proposed.A combinatorial algorithm is proposed to group sensors.The long short-term memory network(LSTM)is used to establish a single inference model.A counting-based judging method is proposed to identify abnormal sensors.Field data from an offshore platform in the South China Sea is used to demonstrate the effect of the proposed method.The results show that the proposed method can identify the abnormal sensors effectively.

Review on uncertainty analysis and information fusion diagnosis of aircraft control system

In the aircraft control system,sensor networks are used to sample the attitude and environmental data.As a result of the external and internal factors(e.g.,environmental and task complexity,inaccurate sensing and complex structure),the aircraft control system contains several uncertainties,such as imprecision,incompleteness,redundancy and randomness.The information fusion technology is usually used to solve the uncertainty issue,thus improving the sampled data reliability,which can further effectively increase the performance of the fault diagnosis decision-making in the aircraft control system.In this work,we first analyze the uncertainties in the aircraft control system,and also compare different uncertainty quantitative methods.Since the information fusion can eliminate the effects of the uncertainties,it is widely used in the fault diagnosis.Thus,this paper summarizes the recent work in this aera.Furthermore,we analyze the application of information fusion methods in the fault diagnosis of the aircraft control system.Finally,this work identifies existing problems in the use of information fusion for diagnosis and outlines future trends.

Fault Detection and Diagnosis of Pneumatic Control Valve Based on a Hybrid Deep Learning Model

As the growing requirements for the stability and safety of process industries,the fault detection and diagnosis of pneumatic control valves have crucial practical significance.Many of the approaches were presented in the literature to diagnose faults through the comparison of residual sequences with thresholds.In this study,a novel hybrid neural network model has been developed to address the issue of pneumatic control valve fault diagnosis.First,the feature extractor automatically extracts in-depth features of the signals through multi-scale convolutional neural networks with different kernel sizes,which not only adequately explores the local distinguishable features,but also takes into account the global features.The extracted features are then fused by the feature fusion layer to reduce redundant features.Finally,the long short-term memory for fault identification and the dense layer for fault classification.Experimental results demonstrate that the average test accuracy is above 94%and 16 out of the 19 conditions can be successfully detected in the simulated actual industrial environment.The effectiveness and practicability of the proposed method have been verified through a comparative analysis with existing intelligent fault diagnosis methods,and the results suggest that the developed model has better robustness.