Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System

Remotely Operated Vehicle (ROV) propulsions system is frequently exposed to harsh operating and underwater environments. Faults and undesired working conditions contribute to performance degradation thus repair actions are required. Stop of operation causes operational cost to increase. Therefore, a...

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Main Author:	Yusoff, Mohd Akmal Mohd
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK1-9971 Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.usm.my/45143/1/Mohd%20Akmal%20Bin%20Mohd%20Yusoff24.pdf
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id	my-usm-ep.45143
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spelling	my-usm-ep.451432019-08-01T07:36:24Z Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System 2013-07 Yusoff, Mohd Akmal Mohd TK1-9971 Electrical engineering. Electronics. Nuclear engineering Remotely Operated Vehicle (ROV) propulsions system is frequently exposed to harsh operating and underwater environments. Faults and undesired working conditions contribute to performance degradation thus repair actions are required. Stop of operation causes operational cost to increase. Therefore, a Fault-Tolerant Control System (FTCS) is introduced to deal with this situation. This method aims to ensure reliability, sustainability and safety of a dynamical system. This thesis presents a fault-tolerant control specifically designed for ROV electric propulsion system with brushed DC motor thrusters. There are two components in FTCS which are the Fault Detection and Diagnosis (FDD) and Controller Re-Design (CRD). The FDD is done by monitoring two thruster parameters i.e. armature voltage and current load and compare between actual and reference process parameters. Via statistical design of experiment techniques, an offline experiment is performed to simulate possible event of faults. Analysis of variance (ANOVA) methods such as two-factor factorial design and Tukey’s Kramer rule are used to analyze the faults and provides the reference model to implement the controller re-design i.e. fault accommodation. A Takagi-Sugeno (T-S) fuzzy system is used to design the fault accommodation and ROV motion controller. The FTCS method has been tested in fresh water pool and proved to be fast in handling the thruster faults. It takes about 500 ms for a fault in a single thruster to be detected, isolated and new thruster command to be initiated. The FTCS method causes the ROV degree of freedom (DOF) to be reduced to a minimum but the ROV still able to continue the operation. 2013-07 Thesis http://eprints.usm.my/45143/ http://eprints.usm.my/45143/1/Mohd%20Akmal%20Bin%20Mohd%20Yusoff24.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Yusoff, Mohd Akmal Mohd Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
description	Remotely Operated Vehicle (ROV) propulsions system is frequently exposed to harsh operating and underwater environments. Faults and undesired working conditions contribute to performance degradation thus repair actions are required. Stop of operation causes operational cost to increase. Therefore, a Fault-Tolerant Control System (FTCS) is introduced to deal with this situation. This method aims to ensure reliability, sustainability and safety of a dynamical system. This thesis presents a fault-tolerant control specifically designed for ROV electric propulsion system with brushed DC motor thrusters. There are two components in FTCS which are the Fault Detection and Diagnosis (FDD) and Controller Re-Design (CRD). The FDD is done by monitoring two thruster parameters i.e. armature voltage and current load and compare between actual and reference process parameters. Via statistical design of experiment techniques, an offline experiment is performed to simulate possible event of faults. Analysis of variance (ANOVA) methods such as two-factor factorial design and Tukey’s Kramer rule are used to analyze the faults and provides the reference model to implement the controller re-design i.e. fault accommodation. A Takagi-Sugeno (T-S) fuzzy system is used to design the fault accommodation and ROV motion controller. The FTCS method has been tested in fresh water pool and proved to be fast in handling the thruster faults. It takes about 500 ms for a fault in a single thruster to be detected, isolated and new thruster command to be initiated. The FTCS method causes the ROV degree of freedom (DOF) to be reduced to a minimum but the ROV still able to continue the operation.
format	Thesis
qualification_level	Master's degree
author	Yusoff, Mohd Akmal Mohd
author_facet	Yusoff, Mohd Akmal Mohd
author_sort	Yusoff, Mohd Akmal Mohd
title	Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
title_short	Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
title_full	Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
title_fullStr	Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
title_full_unstemmed	Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System
title_sort	fault-tolerant control for a remotely operated vehicle (rov) propulsion system
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2013
url	http://eprints.usm.my/45143/1/Mohd%20Akmal%20Bin%20Mohd%20Yusoff24.pdf
_version_	1747821459041943552

Fault-Tolerant Control For A Remotely Operated Vehicle (Rov) Propulsion System

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