School of Electronic, Electrical and Systems Engineering

Fault tolerant actuators usually contain two or three redundant actuator elements, each of which is able to provide the required force. The idea of the high redundancy actuator (HRA) is to go one step further: instead of just a few redundant element, many actuator elements are used to perform one function. This provides a number of advantages, such as easy monitoring, graceful degradation, and better fault-tolerant performance.

By using more elements, it is possible to combine the actuator elements both in parallel and in series. Using elements in series keeps the actuator assembly functional even if an actuator element locks up. This kind of fault is a major problem for classical redundant actuator.

This project aims to model the high redundancy actuator, to quantify the gain in redandancy, and to develop an adequate control structure to handle the high number of system variables.

Systems Engineering and Innovation Centre (SEIC)

The Systems Engineering Innovation Centre at Loughborough, focuses on systems engineering aspects which provide a framework for the integration of people, processes, tools and technology in order to improve the management of risk, product configuration and technology insertion for the development of innovative products. It is jointly funded by the East Midlands Development Agency (emda), BAE Systems and Loughborough University.

SMAC Europe ltd

SMAC manufactures precision programmable electric actuators based on moving coil technology. These actuators are unique in that force, position and speed are totally programmable. They are designed to perform at exceptionally high speeds or very low speeds and with sub-micron accuracy and repeatability. This makes them ideal for a wide range of positioning, measuring, inspection and pick and place applications, particularly where 100% verification is required.

References

1. M. Blanke, M. Kinnaert, J. Lunze, M. Staroswiecki, J. Schröder: Diagnosis and Fault-Tolerant Control, ISBN 978-3540356523. Springer, New York, 2006.
2. S. Chen, G. Tao, and S. M. Joshi: On matching conditions for adaptive state tracking control of systems with actuator failures, in IEEE Transactions on Automatic Control, vol. 47, no. 3, pp. 473–478, 2002.

Publications

1. T. Steffen, R. Dixon, J. Pearson, R.M. Goodall: "Experimental Verification of High Redundancy Actuation", UKACC Control Conference, Coventry, 2010.
2. T. Steffen, R. Dixon, J. Davies, R.M. Goodall, J. Pearson: "HRA – High Redundancy Actuation Overview", Actuator, Bremen, 2010.
3. T. Steffen, F. Schiller, M. Blum, R. Dixon: "Increasing the Reliability of High Redundancy Actuators by Using Elements in Series and Parallel", SAFECOMP, Hamburg, 2009.
4. J. Davies, T. Steffen, R. Dixon, R. Goodall, A. Zolotas: "Active Versus Passive Fault Tolerant Control of a High Redundancy Actuator", ECC, Budapest, 2009.
5. R. Dixon, T. Steffen, J. Davies, R. Goodall, A. Zolotas, J. Pearson: "HRA - Intrinsically Fault Tolerant Actuation Through High Redundancy", SAFEPROCESS, Barcelona, 2009.
6. T. Steffen, R. Dixon, R. Goodall, A. Zolotas: "Handling Faults in a High Redundancy Actuator Using Adaptive Control and the Geometric Approach", SAFEPROCESS, Barcelona, 2009.
7. T. Steffen, F. Schiller, M. Blum: "Increasing Reliability by Means of Efficient Configurations for High Redundancy Actuators", SAFEPROCESS, Barcelona, 2009.
8. Davies, J., Tsunashima, H., Goodall, R.M., Dixon, R. and Steffen, T.: "Fault Detection in High Redundancy Actuation Using an Interacting Multiple-Model Approach", SAFEPROCESS, Barcelona, 2009.
9. Steffen, T., Michail, K., Dixon, R., Zolotas, A.C. and Goodall, R.M.: "Optimal Passive Fault Tolerant Control of a High Redundancy Actuator", SAFEPROCESS, Barcelona, 2009.
10. T. Steffen, R. Dixon, R. Goodall, A. Zolotas: "Robust control of a high redundancy actuator", UKACC, Manchester, 2008.
11. J. Davies, T. Steffen, R. Dixon, R. Goodall: "Multi-agent control of high redundancy actuation", UKACC, Manchester, 2008.
12. T. Steffen, T., Davies, J., Dixon, R., Goodall, R.M., Pearson, J.T. and Zolotas, A.C.: "Failure Modes and Probabilities of a High Redundancy Actuator", Proceedings of the 17th World Congress - The International Federation of Automatic Control, 2008.
13. Davies, J., Steffen, T., Dixon, R. and Goodall, R.M.: "Modelling of High Redundancy Acutation Utilising Multiple Moving Coil Actuators", Proceedings of the 17th World Congress - The International Federation of Automatic Control, 2008.
14. J. Davies, T. Steffen, R. Dixon, R.M. Goodall: "Multi-agent control of a 10x10 High Redundancy Actuator", in: Burnham, K.J. & Linden, J.G. (eds.). Proceedings of the 23rd IAR Workshop on Advanced Control and Diagnosis, 27-28 November 2008, Control Theory and Applications Centre, Coventry University, UK, 2008.
15. T. Steffen, R. Dixon, R. Goodall, A. Zolotas: "Multi-variable control of a high redundancy actuator", ACTUATOR, Bremen, 2008.
16. X. Du, R. Dixon, R. Goodall, T. Steffen: "Two by Two High Redundancy Actuator Experimental Results", ACTUATOR, Bremen, 2008.
17. Steffen, T., Davies, J., Dixon, R., Goodall, R.M. and Zolotas, A.C.: "Using a Series of Moving Coils as a High Redundancy Actuator", 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007.
18. Du, X., Dixon, R., Goodall, R.M. and Zolotas, A.C.: "LQG Control of a High Redundancy Actuator", 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007.
19. Du, X., Dixon, R., Goodall, R.M. and Zolotas, A.C.: "Assessment of Strategies for Control of High Redundancy Actuators", Proc of Actuator 2006, 10th International Conference on New Actuators, 2006.
20. Du, X., Dixon, R., Goodall, R.M. and Zolotas, A.C.: "Modelling and Control of a Highly Redundant Actuator", UKACC International Control Conference 2006, 2006.