Fault Detection Model Based On Artificial Immune Principle And Fault-tolerant Control Method

Nowadays, electro-Mechanical-Products (EMPs) are getting more and more complex, this brings the growing demands on function and performance with simultaneously growing requirements on reliability and safety for EMPs. This paper takes research on technology and methodology for reliability and safety of EMPs as the main clue, and combines artificial immune principle, fault diagnosis technique with fault-tolerant method such as redundant and reconfiguration, fault diagnosis technology and fault-tolerant control method for EMPs are studied deeply and systemly in this paper.Basic theories and methodologys for fault-tolerant control system design are discussed based on artificial immune principle, the scheme and framework for fault-tolerant control system are proposed, and the key techniques in the fault-tolerant system design are introduced. Fault-tolerant strategies such as redundancy, reconfiguration and software fault-tolerant, are proposed for different type of faults.Fault diagnosis technologies for EMPs are studied based on artificial immune principle. Negative choice algorithm is chosen to establish response model for immune fault diagnosis of EMPs, the algorithm and parameters involved in the modelling are discussed. Based on above response model, a overall framework of immune fault diagnosis system (IFDS) for EMPs is proposed, and corresponding immune fault diagnosis system for EMPs is designed, good performance of above IFDS is demonstrated by test results.Software reconfiguration technique is applied to the design of fault-tolerant system for EMPs. Idea of modularization is adopted in the redesign of fault-tolerant and reconfiguration of control system software. The framework and performance of software system can be recombined and adjusted adaptively when faults occur within the system.Take mobile robot as an example, the control system of mobile robot is redesigned based on ideas of hiberarchy and modularization. ID (Identification) self-identification method for bottom level module is presented, and each module is set for only ID, thus the reconfiguration of software system of the mobile robot is well supported by the ID self-identification technique.Based on such immune principle as self-learning, memory storage, and immune-response, a new immune fault-tolerant controller (IFTC) is designed. Combined AIS fault diagnosis method, software reconfiguration technique with above IFTC, a fault-tolerant control system for mobile robot is designed, and the feasibility and effectivity of above IFTC is demonstrated by simulation results.Immune principle based fault diagnosis technique and fault-tolerant control method presented in this paper will provide some effective theories, methodologys and techniques for the fault tolerance and fault rectification design of EMPs.