31320 Robust and Fault-tolerant Control

Micha Kramarczyk, s142910

Tomasz Sts, s142914

Agenda
Fault-tolerant Control:

Robust Control:

Fault detectability

Steady-state to GCC

CUSUM algorithm

Maximal output

GLR algorithm

uncertainty

State feedback control

Control reconfiguration

Virtual Actuator

Final simulation results

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Fault detectability
ARRs in symbolic form backtracking
ARRs in analitical form and adding faults
Transforming to frequency domain and using Final Value Theorem

DTU Electrical Engineering, Technical University of Denmark

9/14/15

CUSUM algorithm

Known mean value after

fault occurance
Two-sided CUSUM
Choosing the treshold h
Simulink implementation

DTU Electrical Engineering, Technical University of Denmark

9/14/15

GLR algorithm

Unknown mean value after

fault occurance
Choosing the window size
Choosing the treshold h
Simulink Implementation

DTU Electrical Engineering, Technical University of Denmark

9/14/15

State feedback controller

Finding the

eigenvalues:

n 2 2

Pole placement
n i sin arccos

3. Creating the controller

and generating time
response

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Virtual actuator

Separation principle:
Static reconfiguration
Choosing N matrix
Choosing M matrix

DTU Electrical Engineering, Technical University of Denmark

9/14/15

From steady-space to GCC

Extracting transfer
functions
Including weigths
Positive feedback
Matrix P

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Maximal output uncertainty

Introducing the uncertainty
M-structure
Calculating M

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Maximal output uncertainty

Condition for robust stability:

Analysis on Bode plot

10

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Control reconfiguration

Fault detection
Fault isolation
Switching between controllers
Operating modes
11

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Final simulation results

Fault occurance
Detection time
Impact on the output
signal
Uncontrolled situation

12

DTU Electrical Engineering, Technical University of Denmark

9/14/15

Thank you!

13

DTU Electrical Engineering, Technical University of Denmark

9/14/15