13785

12527

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

۱۳۹۷

دوازده، ۸۱ص.:‌ مصور، جدول، نمودار

جواد عسكري، مهدي لوئي پور

جعفر قيصري

1397/06/05

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

ID12527

82 Active Fault Tolerant Control of an Underwater Robot Mahboubeh Sheikhaei m sheikhaei@ec iut ac ir May 2018 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language PersianSupervisors Javad Askari E mail j askari@cc iut ac ir Mehdi Loueipour E mail loueipour@cc iut ac irAbstractIn the last years due to the rapid developments of the technology the use of underwater vehicles hasremarkably increased as a cost effective solution for performing tasks such as subsea observations themonitoring and maintenance of off shore structures or pipelines and the exploration of the sea bottom thepossible occurrence of fault in underwater vehicles is one of the most common problems in control andnavigation of these vehicles The occurrence of fault may greatly affect the control performance of theunderwater vehicles leading to the decreasing of working efficiency and increasing of working cost Therefore it is crucial to develop a fault tolerant control system FTCs inorder to ensure the reliability and capability ofperforming missions In this thesis the problem of fault detection estimation and design of fault tolerantcontrol system for an underwater robot has been considered The vehicle is equipped with four thrusters controlling its position and orientation in planes parallel to the sea surface and is connected with the surfacevessel by a supporting cable This vehicle model is nonlinear It is assumed that one of the four thrusters canundergo a fault The fault is modeled as actuator loss of efficiency or total actuator failure First a method isused to detect and estimate the fault in the underwater robot For this purpose a fault diagnosis scheme basedon two Thau observers is considered to detect and estimate the fault severity In this regard the Thau observeris used for system monitoring and residual generation Then an adaptive Thau observer is activated to estimatethe magnitude and severity of the fault In the following the scheme of fault tolerant control which composedof fault detection and estimation module nominal controller based on sliding mode control and a mechanismto compensate the fault effects is expressed Simulation results illustrate the performance of the scheme Key wordsUnderwater vehicles fault detection and estimation Thau observer adaptive observer faulttolerant control

جواد عسكري، مهدي لوئي پور

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