A fault-tolerant real-time supervisory scheme for an interconnected four-tank system
|Title||A fault-tolerant real-time supervisory scheme for an interconnected four-tank system|
|Publication Type||Conference Paper|
|Year of Publication||2010|
|Authors||Casavola, A, Famularo, D, Franzè, G, Furfaro, A|
|Conference Name||American Control Conference (ACC), 2010|
|Keywords||Application software, C++ language, Character generation, command governor strategy, control engineering computing, Control systems, fault tolerance, Fault tolerant systems, fault-tolerant real-time supervisory scheme, interconnected four-tank system, Kernel, Laboratories, Linux, Operating systems, Real time systems, real-time computing system, RTAI-Linux operating system kernel, Testing, water pumps failures|
In this paper, the implementation of a Command Governor (CG) strategy on a real-time computing system is described for the supervision of a laboratory four-tank test-bed. In particular, the real-time architecture has been developed on the RTAI/Linux operating system kernel and the CG module has been implemented in C++ on a general purpose off-the-shelf computing unit. An accurate model of the the four-tank process has been derived from both physical and experimental data and the applicability of the proposed method has been proved by means of real-time tests, which testified on the CG strategy ability to enforce the prescribed operative constraints even under unexpected adverse conditions, e.g. water pumps failures.