engleski

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

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.

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

nije evidentirano