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Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
23 24 Fault-tolerant steering by wire Steering input system Power supply Computer Sensor system Drive system Induction motor • Requirements to electrical steering system: • Must be able to steer until vehical is stopped despite any single fault Wheel Fault-tolerant steering by wire Steering input system Power supply Computer Sensor system Drive system Induction motor Wheel Mogens Blanke – Spring 2006 • Function blocks and electrical details: • AC motor is driven by inverter (3-phase switching) Mogens Blanke – Spring 2006 12
25 26 Properties of possible architectures A behaviour is the relation between variables (input and output) of a function block: c 1: g1( u, y) = 0 3 example 1: y( t) − 2 u( t) u( t) = 0 ⎧dx() t ⎪ =− 2 xt ( ) + 4 ut ( ); x(0) = xo example 2: ⎨ dt ⎩ ⎪ yt () = xt () −0.01() ut The service offered by a function block is to provide a behaviour between input and output. S : g( u , y ) = 0 1 1 1 1 Properties of possible architectures The behaviour of a system with an architecture A is SA With the two examples: ( upper ) S = S ∩S ∩S A 1 2 3 All components must provide the service to give the required service from u to y ( ) 1 3 ( lower ) ( ft ) ( d ) SA= S1 ∩ S2 ∪S2 ∩S3 We obtain fault-tolerant behaviour if ( d ) S3 is fail-operational (can work despite any ( ft ) single fault) and S1 is fault-tolerant: we obtain * g(u,y) 1 1 ≈ g(u1,y 1) but perhabs degraded (lower performance) Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 13
- Page 1 and 2: 1 2 Fault-tolerant Control Lecturer
- Page 3 and 4: 5 6 Structure of Plant + Controller
- Page 5 and 6: 9 10 Fault-tolerant Control Fault-t
- Page 7 and 8: 13 14 Handling of fault - reconfigu
- Page 9 and 10: 17 18 Model-matching state-feedback
- Page 11: 21 22 Handling of faults - 2 • Ac
- Page 15 and 16: 29 30 Diagnosis and Fault-tolerant
- Page 17 and 18: 33 34 Safety versus fault-tolerance
- Page 19 and 20: 37 38 Models of dynamical systems L
- Page 21 and 22: 41 42 Example on requirements to di
- Page 23 and 24: 45 46 Digraph for linear system Exa
- Page 25 and 26: 49 50 Example 5.3: tank system F =
- Page 27 and 28: 53 54 Example 5.3: controlled tank
- Page 29 and 30: 57 58 Non invertible constraints =
- Page 31 and 32: 61 62 Differential and integral con
- Page 33 and 34: 65 66 SaTool - A tool for Structura
- Page 35 and 36: 69 70 SaTool - A tool for Structura
- Page 37 and 38: 73 74 Constraints - forces from act
- Page 39 and 40: 77 78 The Constraint Editor in SaTo
- Page 41 and 42: 81 82 Parity relations (normal oper
- Page 43 and 44: 85 86 Fault means violation of a co
- Page 45 and 46: 89 90 Maritime uses - Naval and Off
23<br />
24<br />
Fault-tolerant steering <strong>by</strong> wire<br />
Steering<br />
input<br />
system<br />
Power<br />
supply<br />
Computer<br />
Sensor<br />
system<br />
Drive<br />
system<br />
Induction<br />
motor<br />
• Requirements to electrical<br />
steering system:<br />
• Must be able to steer until<br />
vehical is stopped despite<br />
any single fault<br />
Wheel<br />
Fault-tolerant steering <strong>by</strong> wire<br />
Steering<br />
input<br />
system<br />
Power<br />
supply<br />
Computer<br />
Sensor<br />
system<br />
Drive<br />
system<br />
Induction<br />
motor<br />
Wheel<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
• Function blocks <strong>and</strong><br />
electrical details:<br />
• AC motor is driven <strong>by</strong><br />
inverter (3-phase switching)<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
12
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