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

More documents

Recommendations

Info

7 8 A Hybrid System Dynamic relation between input flow q, height h and area A( h) are 1 ht ( ) = qt ( ) for 0 ≤ h< hedge Ah ( ) ht ( ) = 0 for h≥ h edge Relation to Robust and Adaptive Control q(t) h(t) Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 4
9 10 Fault-tolerant Control Fault-tolerance: Ability to maintain control objectives, despite the occurrence of a fault. A degradation of control performance may be accepted. Obtained through fault accommodation or system reconfiguration. Standard control problem - example Objective: Obtain bandwidth > 0.2 rad/s, loop damping > 0.7 Mogens Blanke – Spring 2006 1 kkb p t 2 ψ () s = s ψ ref () s kb t + h kkb 1 p t 1+ + 2 s s ψ () s = kkb ψ () s p t 2 s + ( kb t + h1) s+ kpkb t Compare with standard form ψ () s = s ω s ψ ref () s 2 b 2 2 + 2ςωb + ωb ref Mogens Blanke – Spring 2006 5
Page 1 and 2: 1 2 Fault-tolerant Control Lecturer
Page 3: 5 6 Structure of Plant + Controller
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 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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?