||Fault tolerant reconfigurable control of a water delivery canal ‚Äď actuator faults
In√™s Sampaio , Jo√£o Lemos xvii , Lu√≠s Rato , Manuel Rijo
||This work addresses the problem of designing fault tolerant controllers for a water
delivery canal that tackle actuator faults. The type of faults considered consists in blocking one
of the gates. The detection of the fault is made by comparing the gate position command with the
actual (measured) gate position. Both centralized and distributed controllers are used for local
upstream water level control. Centralized controllers are multivariable LQG-LTR controllers
that use a model of the system with all the available manipulated inputs (gate positions) and
all the available outputs (pool levels). Initially, three gates and three pools are controlled.
After the fault detection, the controller is reconfigured to use the only two still operating gates
and the corresponding two pool water levels. Distributed control uses local (SISO) LQG-LTR
controllers that negotiate with their neighbors in order to be coordinated. When a fault occurs,
this negotiation takes place only among the controllers connected to the actuators that are
not in a faulty state. Experimental results obtained in a pilot canal are presented.
|Online entry date:
Click for full publication