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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
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85<br />
86<br />
Fault means violation of a constraint<br />
• A fault/failure is a violation of a<br />
constraint<br />
m1<br />
: vm= v velocity - inertial system<br />
m2 : h1<br />
= ψ heading - gyro 1<br />
m3 : h2<br />
= ψ heading - gyro 2<br />
m4<br />
: p1 = p position - GPS 1<br />
m5<br />
: p2 = p position - GPS 2<br />
m6<br />
: cm = vc<br />
sea current<br />
- log&imu<br />
m : w ≠ v wind - anomometer fault<br />
7<br />
m w<br />
Analysis of multiple faults<br />
• SaTool offers the possibility to disable constraints<br />
(assume a failure in the constraint) <strong>and</strong> analyze the<br />
structure graph of the remaining system<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
43
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