Active Fault-tolerant Control of Parallel Digital Valves and Its System Based on Improved PNM Control

doi:10.3901/JME.2025.16.321

Abstract

Abstract: Parallel digital valves, which are composed of multiple on/off valves with simple structure, low sensitivity to fluid pollution and robustness against disturbances, and unique hardware redundancy, ensure the safety and reliability of the system to a certain extent. However, some of its valves will inevitably lead to failures such as stuck and leakage under long-term high-frequency switching, making its remaining functions not match the target requirements, and resulting in performance deterioration. Therefore, the improved PNM control and adaptive circulating switching control for faults are proposed to improve the control accuracy and ensure the switching uniformity of each valve under fewer switching numbers. On this basis, the active fault-tolerant control method based on signal adaptive reconstruction is proposed to improve the fault performance. The working principle of the parallel digital valves and the typical faults of the high-speed on-off valve is introduced. The flow model of the parallel digital valves under each fault is established. Using the unique redundancy characteristics of the parallel digital valves, the adaptive reconstruction of the control signal online and the fault-tolerant mechanism for type I and type II are designed to realize the residual function recombination. The fault-tolerant flow equations of faults on the pump side and the tank side are established. The segmented fault-tolerant switching supervisory control under different operating conditions is designed. The fault-tolerant compensation effects of the adaptive reconstruction mechanism of parallel digital valves and the cross-flow of parallel digital valves manifold with cooperative control on two typical fault signals under different working conditions are analyzed. The adaptive compensation of the active fault-tolerant control method is proposed to optimize system performance under fault and ensure reliable operation. The test bench of equal-coded parallel digital valves-controlled cylinder system was built to carry out fault-tolerant test. The results show that the maximum error of type I fault can be reduced by about 27%. The maximum error of type II fault can be reduced by about 12%, and the average error can be reduced by about 12.5%.

Key words: digital hydraulic, parallel digital valves, PNM, signal adaptive reconstruction, active fault tolerance

CLC Number:

TG137

WANG Pei, GAO Zile, LINJAMA Matti, WANG Dingyu, YAO Jing. Active Fault-tolerant Control of Parallel Digital Valves and Its System Based on Improved PNM Control[J]. Journal of Mechanical Engineering, 2025, 61(16): 321-337.

References

[1] 宋学官,张天赐,付涛,等. 智重装备的结构与控制多学科一体化优化设计方法[J]. 机械工程学报, 2022, 58(17): 26-40. SONG Xueguan , ZHANG Tianci , FU Tao , et al. Multidisciplinary co-design optimization of structural and control parameters for intelligent large-scale equipments[J]. Journal of Mechanical Engineering, 2022, 58(17): 26-40.
[2] 施国标,张洪泉,王帅,等. 电液耦合转向系统应急转向控制方法研究[J]. 机械工程学报, 2023, 59(6): 149-158. SHI Guobiao, ZHANG Hongquan, WANG Shuai, et al. Research on emergency steering control method of integrated electric-hydraulic steering system for commercial vehicle[J]. Journal of Mechanical Engineering, 2023, 59(6): 149-158.
[3] WANG Pei, YAO Jing, FENG Baidong, et al. Modelling and dynamic characteristics for a non-metal pressurized reservoir with variable volume[J]. Chinese Journal of Mechanical Engineering, 2022, 35(1): 1-15.
[4] DONKOV V H, ANDERSEN T, LINJAMA M, et al. Digital hydraulic technology for linear actuation: A state of the art review[J]. International Journal of Fluid Power, 2020, 21(2): 263-304.
[5] WARD S. Digital hydraulics in aircraft control surface actuation[D]. Linköping: Linköping University, 2017.
[6] SHANG Yaoxing, LI Renjie, WU Shuai, et al. A research of high-precision pressure regulation algorithm based on on/off valves for aircraft braking system[J]. IEEE Transactions on Industrial Electronics, 2021, 69(8): 7797-7806.
[7] 俞军涛,焦宗夏,吴帅. 大流量压电式高速开关阀设计与仿真测试[J]. 机械工程学报, 2020, 56(18): 226-234. YU Juntao, JIAO Zongxia, WU Shuai. Design, simulation and test of high-flow high-speed on/off valve driven by piezoelectric[J]. Journal of Mechanical Engineering , 2020, 56(18): 226-234.
[8] YAO Jing, WANG Pei, DONG Zhaosheng, et al. A novel architecture of electro-hydrostatic actuator with digital distribution[J]. Chinese Journal of Aeronautics, 2021, 34(5): 224-238.
[9] SⅡVONEN L, LINJAMA M, HUOVA M, et al. Jammed on/off valve fault compensation with distributed digital valve system[J]. International Journal of Fluid Power, 2009, 10(2): 73-82.
[10] ETERNO J S, WEISS J L, LOOZE D P, et al. Design issues for fault tolerant-restructurable aircraft control[C]//Proceedings of the 24th IEEE Conference on Decision and Control. Fort Lauderdale, USA, 1985: 900-905.
[11] KARPENKO M, SEPEHRI N. Fault-tolerant control of a servohydraulic positioning system with crossport leakage[J]. IEEE Transactions on Control Systems Technology, 2004, 13(1): 155-161.
[12] NAHIAN S A, TRUONG D Q, CHOWDHURY P, et al. Modeling and fault tolerant control of an electro-hydraulic actuator[J]. International Journal of Precision Engineering and Manufacturing, 2016, 17(10): 1285-1297.
[13] BLANKE M, KINNAERT M, LUNZE J, et al. Diagnosis and fault-tolerant control[M]. Berlin: Springer, 2006.
[14] DAO H V, TRAN D T, AHN K K. Active fault tolerant control system design for hydraulic manipulator with internal leakage faults based on disturbance observer and online adaptive identification[J]. IEEE Access, 2021, 9: 23850-23862.
[15] DING Ruqi, CHENG Min, JIANG Lai, et al. Active fault-tolerant control for electro-hydraulic systems with an independent metering valve against valve faults[J]. IEEE Transactions on Industrial Electronics, 2020, 68(8): 7221-7232.
[16] PERSSON U, FRITZ K. 728JET Primary flight control system[C]//Proceedings of the 7th Scandinavian International Conference on Fluid Power. Tampere , Finland, 2001: 237-251.
[17] LINJAMA M, VILENIUS M. Digital hydraulics-towards perfect valve technology[J]. Ventil-journal for Hydraulics, Automation and Mechatronics, 2008, 14(2): 138-148.
[18] WANG Pei, CHENG Yuwang, LINJAMA M, et al. A novel equivalent continuous metering control with a uniform switching strategy for digital valve system[J]. IEEE/ASME Transactions on Mechatronics, 2023, 28(5): 2449-2460.
[19] SⅡVONEN L, PALONⅡTTY M, LINJAMA M, et al. Digital valve system for ITER remote handling–design and prototype testing[J]. Fusion Engineering and Design, 2019, 146: 1637-1641.
[20] ESQUE S, SAARINEN H, MUHAMMAD A, et al. ITER divertor maintenance: Development of a control system for the remote handling of the divertor cassette mover[C]//IEEE 22nd Symposium on Fusion Engineering. Albuquerque, New Mexico, 2007: 1-6.
[21] PALONⅡTTY M , LINJAMA M. High-linear digital hydraulic valve control by an equal coded valve system and novel switching schemes[J]. Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering, 2018, 232(3): 258-269.
[22] GAO Qiang, LINJAMA M, PALONⅡTTY M, et al. Investigation on positioning control strategy and switching optimization of an equal coded digital valve system[J]. Proceedings of the Institution of Mechanical Engineers , Part I : Journal of Systems and Control Engineering, 2020, 234(8): 959-972.
[23] SⅡVONEN L , LINJAMA M , VILENIUS M. Fault tolerance with digital hydraulic valve system[C]//Proceedings of the 8th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies. Cardiff, UK, 2001: 1250-1262.
[24] SⅡVONEN L, LINJAMA M, VILENIUS M. Analysis of fault tolerance of digital hydraulic valve system[C]//Proceedings of the 5th Power Transimission and Motion Control. Bath, UK, 2005: 133-146.
[25] SⅡVONEN L , LINJAMA M , VILENIUS M. fault tolerance of digital hydraulic valve system with separately controlled flow paths[C]//Proceedings of the 4th PhD Symposium. Sarasota, 2006: 331-343.
[26] SⅡVONEN L, LINJAMA M, LAAMANEN A. Fault tolerant digital valve system and fault tolerant control[C]//Proceedings of the 1st Workshop on Digital Fluid Power. Tampere, Finland, 2008: 77-88.
[27] PETTERSSON R. Safety analysis on digital hydraulics: Redundancy study for aviation application[D]. Linköping: Linköping University, 2018.
[28] DONKOV V, ANDERSEN T, EBBESEN M K, et al. Investigation of the fault tolerance of digital hydraulic cylinders[C]//Proceedings of the 16th Scandinavian International Conference on Fluid Power. Tampere , Finland, 2019: 22-24.
[29] LINJAMA M, VILENIUS M. Energy-efficient motion control of a digital hydraulic joint actuator[C]//Proceedings of the 6th JFPS International Symposium on Fluid Power. Tsukuba, Japan, 2005: 640-645.