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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/12232

Title: High redundancy actuator
Authors: Du, Xinli
Keywords: High redundancy
Fault tolerance
Electromechanical actuator
Classical control
LQG control
Model reduction
Issue Date: 2008
Publisher: © Xinli Du
Abstract: High Redundancy Actuation (HRA) is a novel type of fault tolerant actuator. By comprising a relatively large number of actuation elements, faults in the elements can be inherently accommodated without resulting in a failure of the complete actuation system. By removing the possibility of faults detection and reconfiguration, HRA can provide high reliability and availability. The idea is motivated by the composition of human musculature. Our musculature can sustain damage and still function, sometimes with reduced performance, and even complete loss of a muscle group can be accommodated through kinematics redundancy, e.g. the use of just one leg. Electro-mechanical actuation is used as single element inside HRA. This thesis is started with modelling and simulation of individual actuation element and two basic structures to connect elements, in series and in parallel. A relatively simple HRA is then modelled which engages a two-by-two series-in-parallel configuration. Based on this HRA, position feedback controllers are designed using both classical and optimal algorithms under two control structures. All controllers are tested under both healthy and faults injected situations. Finally, a hardware demonstrator is set up based simulation studies. The demonstrator is controlled in real time using an xPC Target system. Experimental results show that the HRA can continuously work when one element fails, although performance degradation can be expected.
Description: A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.
URI: https://dspace.lboro.ac.uk/2134/12232
Appears in Collections:PhD Theses (Mechanical, Electrical and Manufacturing Engineering)

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