![Diagnosis and FTC by Prof. Blanke [pdf] - NTNU](https://img.yumpu.com/12483948/5/500x640/diagnosis-and-ftc-by-prof-blanke-pdf-ntnu.jpg)
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
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
9<br />
10<br />
Fault-tolerant Control<br />
Fault-tolerance:<br />
Ability to maintain control<br />
objectives, despite the<br />
occurrence of a fault.<br />
A degradation of control<br />
performance may be<br />
accepted.<br />
Obtained through fault<br />
accommodation or system<br />
reconfiguration.<br />
St<strong>and</strong>ard control problem - example<br />
Objective:<br />
Obtain b<strong>and</strong>width > 0.2 rad/s, loop damping > 0.7<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
1<br />
kkb p t 2<br />
ψ () s = s ψ ref () s<br />
kb t + h kkb<br />
1 p t<br />
1+<br />
+ 2<br />
s s<br />
ψ () s =<br />
kkb<br />
ψ () s<br />
p t<br />
2<br />
s + ( kb t + h1) s+ kpkb t<br />
Compare with st<strong>and</strong>ard form<br />
ψ () s =<br />
s<br />
ω<br />
s<br />
ψ ref () s<br />
2<br />
b<br />
2 2<br />
+ 2ςωb<br />
+ ωb<br />
ref<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
5
Change language