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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
71 72 Case: ship station-keeping control • Position control is required within a specified circle to enable investigation of an unknown object • Ship has two shafts and a bow thruster for control Constraints – forces from actuators ( ) ( ) ( ) a1: θ1 = gpu1 pitch and shaft speed on starboard shaft a2 : θ2 = gpu2 pitch and shaft speed on port shaft a3 : n3 = gbu3 angular velocity on bow thruster b1: y1 = θ1 measurement of SB pitch and rpm b2 : y2 = θ2 measurement of port pitch and rpm b : y = n measurement of BT rpm 3 3 3 Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 36
73 74 Constraints – forces from actuators c N =− l c ( θ ) + l c ( θ ) + l c ( n ) torque from actuators and wind c : T c ( n ) g ( ) total sway force c : T c ( ) c ( ) g ( ) total surge force 1 : z y T 1 y T N + gw ( vw) 2 x b 3 2 y = b 3 + Y w vw 3 x = T θ1 + T θ2 + X w vw Constraints – dynamics and kinematics c4: −1⎡Tx⎤ −1 v= M ⎢ ⎥−A ( ψ ) vc ⎣Ty⎦ linear acc. of body c5 : p= A( ψ ) v+ vc geographical position c6: −1 ψ = I N angular acc. of body d1 : d v= v dt differential d2 : d p= p dt differential d3 : d d ψ = ( ψ) dt dt double differention Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 37
- 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 and 34: 65 66 SaTool - A tool for Structura
- Page 35: 69 70 SaTool - A tool for Structura
- 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
71<br />
72<br />
Case: ship station-keeping control<br />
• Position control is required within a specified circle to<br />
enable investigation of an unknown object<br />
• Ship has two shafts <strong>and</strong> a<br />
bow thruster for control<br />
Constraints – forces from actuators<br />
( )<br />
( )<br />
( )<br />
a1: θ1<br />
= gpu1 pitch <strong>and</strong> shaft speed on starboard shaft<br />
a2 : θ2<br />
= gpu2 pitch <strong>and</strong> shaft speed on port shaft<br />
a3 : n3 = gbu3 angular velocity on bow thruster<br />
b1:<br />
y1 = θ1<br />
measurement of SB pitch <strong>and</strong> rpm<br />
b2<br />
: y2 = θ2<br />
measurement of port pitch <strong>and</strong> rpm<br />
b : y = n<br />
measurement of BT rpm<br />
3 3 3<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
36
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