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Rudder Servosystem Fault Detection and Isolation in the Closed Loop Coursekeeping System for Marine Vehicle


Vukić, Zoran; Ožbolt, Henrieta
Rudder Servosystem Fault Detection and Isolation in the Closed Loop Coursekeeping System for Marine Vehicle // IARP - International Advanced Robotics Programme : First International Workshop on Autonomous Underwater Vehicles for Shallow Waters and Coastal Environments / Valavanis, Kimon ; Gračanin, Denis ; Matijašević, Maja ; Kolluru, Ramesh (ur.).
Lafayette: University of Southwestern Louisiana, 1998. str. 163-181 (pozvano predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Rudder Servosystem Fault Detection and Isolation in the Closed Loop Coursekeeping System for Marine Vehicle

Autori
Vukić, Zoran ; Ožbolt, Henrieta

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IARP - International Advanced Robotics Programme : First International Workshop on Autonomous Underwater Vehicles for Shallow Waters and Coastal Environments / Valavanis, Kimon ; Gračanin, Denis ; Matijašević, Maja ; Kolluru, Ramesh - Lafayette : University of Southwestern Louisiana, 1998, 163-181

Skup
First International Workshop on Autonomous Underwater Vehicles for Shallow Waters and Coastal Environments

Mjesto i datum
Lafayette, Louisiana, SAD, 17-19.02.1998

Vrsta sudjelovanja
Pozvano predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Fault detection and isolation; model-based fault detection; parameter estimation; ship's coursekeeping; identification

Sažetak
A novel fault detection and isolation (FDI) algorithm is proposed in the paper. The algorithm is tested by simulation of the rudder servosystem in the closed loop coursekeeping system for a Mariner Class Vessel. Properly adjusted Recursive Extended Least Squares (RELS) identification algorithm is utilized for fault detection purposes, since hardly detectable faults (also called multiplicative) are handled. Two main problems are solved with the suggested approach: first the persistency of excitation which causes poor parameter estimation and second the system operation in the closed loop, that is hiding the changes in the process components. Results of extensive simulation, with both linear and nonlinear Mariner Class Vessel model are given. The proposed FDI module is in the paper used for the rudder servosystem fault detection and i! solation. The course keeping control system augmented with the FDI mod ule acquire some novel capabilities previously not used.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
036003

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb