Doctoral Degrees (Electrical and Electronic Engineering)

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Browsing Doctoral Degrees (Electrical and Electronic Engineering) by Subject "Actuators"

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    Optimised active fault detection for an open loop stable system
    (Stellenbosch : Stellenbosch University, 2016-12) Busch, Regardt; Jones, T.; Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.
    Active fault detection for a stable open-loop linear time invariant system is considered. The optimal active fault detection setup is developed around an estimator based architecture. The auxiliary signal and estimator are then The effect of the excitation signal frequency on detector performance is investigated, and a minimum targeted detection time parameter is introduced. This set of equations is then used to minimise the fault detection time for fixed performance constraints and minimum targeted detection time. A conceptual Active Fault Tolerant Control Framework is developed for a small unmanned aerial vehicle, emphasising the role of fault detection. The theoretical framework is then applied to this UAV, illustrating the applicability of the proposed AFD framework to more complex practical problems. designed in order to maximize detection performance. Equations are derived which relate the estimator design to the nominal residual signal covariance. The relationship between the auxiliary input and the system performance degradation constraint is considered. The effect of estimator gain and excitation signal frequency on the dual Youla-Jabr-Bongiorno- Kucera parameter is investigated. An LTI input shaping filter is added to allow for added MIMO system complexity. Theory developed for the general output zeroing problem is combined with the extended MIMO architecture in order to arrive at a solution without the nominal performance penalty usually associated with active fault detection. Furthermore, the effect of the control input is considered and formulated as an additional optimisation criterion, resulting in an average-case optimisation scenario.