fault-tolerant control system design and analysis · 2003. 3. 10. · fault-tolerant control system...
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Fault-tolerant Control System Design and Analysis
Jin Jiang
Department of Electrical and Computer Engineering
The University of Western Ontario
London, Ontario N6A 5B9
Canada
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Outline of the presentation
! Overview of two approaches to fault-tolerant control system design and analysis
! Redundancy in fault-tolerant control systems! Trade-offs among redundancy, performance and
integrity
! An example of passive fault-tolerant control design
! An example of active fault-tolerant control design
! Some open problems
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Fault-tolerant control: An overview
! Passive fault-tolerant control systems! Robust fixed structure controller! Faults have been considered at the controller design stage
! Active fault-tolerant control systems! Explicit fault detection/diagnosis schemes! Real-time decision-making and controller reconfiguration
! The key to any fault-tolerant control system ! Redundancy
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Passive fault-tolerant control systems
ControllerOutputs
Actuator System
Sensor
L-
faults
faults
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Active fault-tolerant control systems
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Features and limitations
! Passive fault-tolerant control systems! Simple to implement! Difficult to account for large number of fault scenarios! Unable to deal with unforeseen faults
! Active fault-tolerant control systems! Potentially be able to deal with a large number of fault
scenarios ! Can deal with certain number of unforeseen faults! More complex to implement! Real challenge is real-time decision-making
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Redundancies
! Actuator redundancies! Multiple physical actuators• They usually act on the system at different locations
! Sensor redundancies! Multiple physical sensors• They usually measure the same physical quality
! Analytical redundancies! Rely on mathematical models (FDI)
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Actuator redundancies
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Actuator Redundancies
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Definitions of actuator redundancies
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Sensor redundancies
A1
A2
A3
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SystemDynamics
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S12
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S22
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Sp1
Sp2
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Actuator Inputs System Inputs System Outputs
Sens
or O
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Analytical Redundancies
System ........
Analytical model
Inpu
ts
Out
puts
Intermediate system variables
SensorsRedundant system output
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Performance trade-offs
Three main factors to consider in any fault-tolerant control system design:
System Integrity (safety requirements)Performance (design specifications)Redundancy (physical and financial constraints)
Problem: How to design a control system, under a given degree of redundancy such that the integrity of the system is guaranteed and the performance is satisfactory.
Issue 1: System integrity should always be maintainedIssue 2: Faults should result in reduction of the degree of redundancy firstIssue 3: One should consider performance degradation with available
redundancies.
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Example of passive fault-tolerant control system
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Description of system
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Control system performance
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Control system performance
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Example of active fault-tolerant control system
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Simulation results
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Simulation results
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Simulation results
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Simulation results
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Some open problems
! Reliability analysis of fault-tolerant control systems
! Stability analysis of fault-tolerant control systems
! Graceful performance degradation! Integration of passive and active approaches! Industrial applications of fault-tolerant control
system technologies
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Thank You !