Diagnosis and FTC by Prof. Blanke [pdf] - NTNU

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43 44 Aim and scope This is fun Design Sequence Overview Mogens Blanke – Spring 2006 • We need a tool to cope with complexity of systems • Desire: Determine principal properties from the structure of a system - without detailed control theory calculations • Principal questions we have: • Can we diagnose a fault ? • Can a system recover from a fault? • Can we monitor the system? • Method: graph based analysis of system structure Mogens Blanke – Spring 2006 22
45 46 Digraph for linear system Example 5. 2 d c1: x1 = x1 dt c2 : x1 = ax2 d c3 : x2 = x2 dt c : x = bx + cx + du 4 2 1 2 Bipartite graph Graph represented as incidence matrix: u x1 x2 x1 x2 c1 0 1 0 1 0 c2 0 0 1 1 0 c3 0 0 1 0 1 c 1 1 1 0 1 4 Graph represented as the incidence matrix: u x1 x2 x1 x2 c1 0 1 0 1 0 c2 0 0 1 1 0 c3 0 0 1 0 1 c 1 1 1 0 1 4 Or drawn as a bipartite graph: N N N Mogens Blanke – Spring 2006 N K ? ? ? ! ? " "A simple graph is one with no parallel edges and loops. A bipartite graph is a simple graph in which the set of vertices can be partitioned into two sets such that every edge is between a vertex in C and a vertex in Z: G= ( C, Z, E) ." Mogens Blanke – Spring 2006 23
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 and 20: 37 38 Models of dynamical systems L
Page 21: 41 42 Example on requirements to di
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

Diagnosis and FTC by Prof. Blanke [pdf] - NTNU

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