文章基本信息

标题：High Redundancy Actuator with 12 Elements: Open- and Closed-loop Model Validation
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作者：Hasmawati Antong ; Roger Dixon ; Christopher P. Ward 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：21
页码：254-259
DOI：10.1016/j.ifacol.2016.10.563
语种：English
出版社：Elsevier
摘要：The high-redundancy actuator concept that is inspired by biomimetic is an approach to fault tolerant actuator that aims to provide fault tolerance using relatively large numbers of small actuation elements. The actuation elements are assembled in parallel and series configurations to form a single actuator that has intrinsic fault tolerance. During normal operations, it is possible that some of these elements are operational and some are faulty. In this situation, the high-redundancy actuator will still work, but with graceful degradation. This paper discusses the modelling aspect of the high-redundancy actuator that consists of 12 actuation elements based on linear electromechanical actuation technology. Simulation results are validated with real-time experimental results using both a single actuator and the full high-redundancy actuator in open-loop and closed-loop.
关键词：actuator modellingfault-tolerant actuatorhigh-redundancy actuatorparallel redundancylock-up faultloose fault