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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
27 28 A fault-tolerant architecture (patented) • Redundant hardware is necessary but here is a cheap version: split power stage in two, wind AC motor with dual winding. The FDI - FTC chain • What FDI provides • Fault detection • Fault isolation • Evaluation to get confirmed hypothesis • Fault estimation Mogens Blanke – Spring 2006 • What FTC shall do • Assess estimated structure • Is diagnosis unambiguous, – determine faultaccommodation action • If not, – react according to highest severity – accommodate both/all possible scenarios • Reconfigure in time Mogens Blanke – Spring 2006 14
29 30 Diagnosis and Fault-tolerant Control Chapter 1, pp 1-23 • Faults and fault-tolerance: • A fault is a deviation of the system structure or system parameters from the nominal situation (actuator blocks, loss of sensor, disconnection of system component) • A failure is an event that prevents a system to perform a required function. • Parameters are alowed to vary within their specified range System behaviour • System behaviour is a subset of all possible combinations of input and output signals. Let a static system be yt () = kut s () The behaviour is the set of all I/O pairs is given by B = { ( uy , )| y= ku s } If the system is dynamic, B⊂ U× Y Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 15
- 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 and 12: 21 22 Handling of faults - 2 • Ac
- Page 13: 25 26 Properties of possible archit
- 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
27<br />
28<br />
A fault-tolerant architecture (patented)<br />
• Redundant hardware is<br />
necessary but here is a<br />
cheap version: split<br />
power stage in two,<br />
wind AC motor with<br />
dual winding.<br />
The FDI - <strong>FTC</strong> chain<br />
• What FDI provides<br />
• Fault detection<br />
• Fault isolation<br />
• Evaluation to get confirmed<br />
hypothesis<br />
• Fault estimation<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
• What <strong>FTC</strong> shall do<br />
• Assess estimated structure<br />
• Is diagnosis unambiguous,<br />
– determine faultaccommodation<br />
action<br />
• If not,<br />
– react according to highest<br />
severity<br />
– accommodate both/all<br />
possible scenarios<br />
• Reconfigure in time<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
14
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