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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
39 40 Model of normal behavior of ship 3 ( ) c1: ω3 = b h1ω3+ h3ω3 + bδ c2: ψ= ω3+ ω3w c3 : ψm= ψ c4: ω3m ω3+ ω3w c5 : d1 : δm= ψ = δ dψ dt δ d2 ω3 = dω3 dt rudder angle b + + ∫ ω3 δ steering characteristic wave disturbance Linearized model with sensor faults δ rudder angle ω3 = b( δ + h1ω3) ψ= ω3+ ω3w ψm= ψ + fψ linearized at ω3=0 ω3m = ω3+ ω3w + fω δ = δ m b + + ∫ ω3 δ steering characteristic ω3 ω3 wave disturbance + + f ω ωw + ωw + + + ω3m rate measurement ∫ f ψ ψ ψm heading measurement Mogens Blanke – Spring 2006 ∫ + fω + ω3m fψ rate measurement + Mogens Blanke – Spring 2006 + ψ + ψm heading measurement + 20
41 42 Example on requirements to diagnosis • Requirements for motion control • f rate (t) t det < 1deg • f angle (t) t det < 5 deg*s • Obtained in theory and practice • Accommodation of sensor faults on the fly is possible Analysis based on structure Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 21
- 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 and 14: 25 26 Properties of possible archit
- Page 15 and 16: 29 30 Diagnosis and Fault-tolerant
- Page 17 and 18: 33 34 Safety versus fault-tolerance
- Page 19: 37 38 Models of dynamical systems L
- 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
39<br />
40<br />
Model of normal behavior of ship<br />
3 ( )<br />
c1: ω3 = b h1ω3+ h3ω3 + bδ<br />
c2:<br />
ψ= ω3+ ω3w<br />
c3<br />
: ψm= ψ<br />
c4:<br />
ω3m ω3+ ω3w<br />
c5<br />
:<br />
d1<br />
:<br />
δm= ψ<br />
=<br />
δ<br />
dψ<br />
dt<br />
δ<br />
d2<br />
ω3<br />
=<br />
dω3<br />
dt<br />
rudder<br />
angle<br />
b<br />
+<br />
+<br />
∫<br />
ω3<br />
δ<br />
steering<br />
characteristic<br />
wave<br />
disturbance<br />
Linearized model with sensor faults<br />
δ<br />
rudder<br />
angle<br />
ω3 = b( δ + h1ω3)<br />
ψ= ω3+ ω3w<br />
ψm= ψ + fψ<br />
linearized at ω3=0<br />
ω3m = ω3+ ω3w<br />
+ fω<br />
δ = δ<br />
m<br />
b<br />
+<br />
+<br />
∫<br />
ω3<br />
δ<br />
steering<br />
characteristic<br />
ω3<br />
ω3<br />
wave<br />
disturbance<br />
+<br />
+<br />
f ω<br />
ωw<br />
+<br />
ωw<br />
+<br />
+<br />
+<br />
ω3m<br />
rate<br />
measurement<br />
∫<br />
f ψ<br />
ψ<br />
ψm<br />
heading<br />
measurement<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
∫<br />
+<br />
fω +<br />
ω3m<br />
fψ rate<br />
measurement<br />
+<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
+<br />
ψ<br />
+<br />
ψm<br />
heading<br />
measurement<br />
+<br />
20
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