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

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87 88 Properties of the faulty system A salient feature of SaToo is the ability to analyze the faulty system with several simultaneous faults present. When f1 and f2 have happened, what if f3 is a fault in a1, a2, a3, .. f1 a3 f2 m5 m6 m7 a 1 i i i a 2 i i i a 3 - - - b 1 i 0 i b 2 i 0 i b 3 d d d Essentials from the structure graph c 1 d i d Auto-generated parity relations for diagnosis ! Controlability (structural): are unknown variables reachable from input variables ? Monitorability: are constraints reachable from measured variables ? c 2 d d d f3 c 3 d d d m 1 d 0 d m 2 i i i m 3 i 0 i m 4 i i i m 5 - 0 0 m 6 d - d m 7 0 d - # 6 6 6 Mogens Blanke – Spring 2006 Detectability: does the constraint enter into any of the parity relations ? Isolability: is there a unique signature in the set of parity relations by a particular fault (violation of particular constraint) ? Mogens Blanke – Spring 2006 44
89 90 Maritime uses - Naval and Offshore Examples from the Danish SF300 class Mogens Blanke – Spring 2006 Hovering with different shaft configurations Mogens Blanke – Spring 2006 45
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 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: 85 86 Fault means violation of a co

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

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