Active fault-tolerant control for the dual-valve hydraulic system with unknown dead-zone

Tianzhu Wang; Qiang Zhang; Jinhui Fang; Zhenyu Lai; Ruilin Feng; Jianhua Wei

doi:10.1016/j.isatra.2023.11.038

Active fault-tolerant control for the dual-valve hydraulic system with unknown dead-zone

ISA Trans. 2024 Feb:145:399-411. doi: 10.1016/j.isatra.2023.11.038. Epub 2023 Nov 28.

Authors

Tianzhu Wang¹, Qiang Zhang², Jinhui Fang³, Zhenyu Lai², Ruilin Feng², Jianhua Wei¹

Affiliations

¹ The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.
² Hangzhou Doubltech Electro-Hydraulic Engineering Co., Ltd., Hangzhou 310052, China.
³ The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China. Electronic address: jhfang@zju.edu.cn.

PMID: 38142174
DOI: 10.1016/j.isatra.2023.11.038

Abstract

This paper proposes a method for high-performance motion control of the dual-valve hydraulic system subject to parameter and model uncertainties, unknown proportional valve dead-zone, and servo valve fault. By constructing a detailed dual-valve fault system model (DFSM), a disturbance observer-based adaptive robust fault-tolerant controller is proposed via the backstepping method. This controller integrates a model-based fault detection algorithm for real-time fault monitoring and subsequent controller reconfiguration. Additionally, the DFSM-based adaptive robust control (ARC) technique is applied to handle the unknown dead-zone problem and other nonlinearities, ensuring precise control. Once the servo valve fault occurs, a nonlinear observer estimates the fault and collaborates with the ARC to establish a reconfigured controller, thereby maintaining motion control. The effectiveness of the proposed method has been experimentally verified.

Keywords: Active fault-tolerant control; Adaptive robust control; Dead-zone compensation; Dual-valve hydraulic system; Nonlinear disturbance observer.