Accommodation of actuator fault using local diagnosis and IMC-PID

This paper presents an Internal Model Control (IMC) based PID control system architecture that can tolerate faulty actuators in a networked environment. The proposed control architecture contains several smart actuating nodes which are interconnected by a fieldbus network. In the case of a fault with an actuator, the proposed method recalculates the IMC-PID control parameters through an iterative optimization process utilizing the diagnostic information. The diagnostic information, being generated locally by each actuator, includes an actuation performance index, called condition data, representing the device status. The effectiveness of the proposed method is verified with a Hardwarein-the-Loop (HIL) simulator for a crane system, consisting of DC motors, several computing nodes, and a CAN bus network.