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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
67 68 Investigate the effect of a structural fault • Faults can be modeled by disabling nodes – Right click on a node to disable it – Perform a new analysis – Or analyze consequences of all possible violation of constraints • The result shows if the – system can be reconfigured in case of faults – Shows which further faults can be diagnosed for the faulty system – Showh witch secondary faults can be isolated for the faulty system Mogens Blanke – Spring 2006 • Salient feature: • Run analysis on system with fault • Investigate the new result Mogens Blanke – Spring 2006 34
69 70 SaTool – A tool for Structural Analysis Features • Matlab ® based (version 6.5 or later) • Graphical representation of structure as a graph • Easy point and click manipulation of system structure • Matching by ranking • Backtracing – Recursive algorithm Matlab ® is a trademark of the Math Works Inc. USA. SaTool Mogens Blanke – Spring 2006 • SaTool – a rapid prototyping tool now being tested by colleagues and industry. • A beta version is available (GNU open source), please contact mb@oersted.dtu.dk • Uploaded to participants • Work is in progress in the area of autonomous robotics • Also a good subject for your MSc thesis ! Mogens Blanke – Spring 2006 35
- 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 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: 65 66 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
69<br />
70<br />
SaTool – A tool for Structural Analysis<br />
Features<br />
• Matlab ® based (version 6.5 or later)<br />
• Graphical representation of structure as a graph<br />
• Easy point <strong>and</strong> click manipulation of system structure<br />
• Matching <strong>by</strong> ranking<br />
• Backtracing<br />
– Recursive algorithm<br />
Matlab ® is a trademark of the Math Works Inc. USA.<br />
SaTool<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
• SaTool – a rapid prototyping tool now being tested <strong>by</strong><br />
colleagues <strong>and</strong> industry.<br />
• A beta version is available (GNU open source), please<br />
contact mb@oersted.dtu.dk<br />
• Uploaded to participants<br />
• Work is in progress in the area of autonomous robotics<br />
• Also a good subject for your MSc thesis !<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
35
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