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

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11 12 Fault-accommodation or reconfiguration Change in controller parameters or structure to avoid the consequences of a fault. Accommodation: Input-output between controller and plant is unchanged. Reconfiguration: Input-output between controller and plant is changed. Handling of sensor fault -accommodation • Fault handling: a sensor fault (gain is 0.1) accommodated by differentiating term in position feedback. Mogens Blanke – Spring 2006 Mogens Blanke – Spring 2006 6
13 14 Handling of fault - reconfiguration • Fault reconfiguration: a sensor failure in inner loop. • Switch to differentiating control when fault is diagnosed Handling of sensor fault by output estimation icom power drive + Speed control im kt kqη + Ql 1 Itot Fault: [0.0 1.0] kobs ∫ - ˆn n 1 N ∫ + + nm - Position control θm X + 1 N ∫ gear kp ˆ θ - θ + Mogens Blanke – Spring 2006 θref Mogens Blanke – Spring 2006 7
Page 1 and 2: 1 2 Fault-tolerant Control Lecturer
Page 3 and 4: 5 6 Structure of Plant + Controller
Page 5: 9 10 Fault-tolerant Control Fault-t
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

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