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

3/10/2003

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

! ! !

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

Passive fault-tolerant control systems

faults Outputs

Controller

Actuator

System

Sensor
faults

Active fault-tolerant control systems

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 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
6

Active fault-tolerant control systems

!

! ! !

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)

7

Actuator redundancies

Actuator Redundancies

Definitions of actuator redundancies

10

Sensor redundancies
S 11

z z

11 12

Actuator Inputs

System Inputs

System Outputs

....
S 1q1 S 21 S22

S12

u1 u
2 3 ..........

A1 A2 A3

....
z z

z1q
21 22

....

S 2q2

um

Am

p
S p1 S p2

....

Spqp

....
z
pqp

....
z z z

System Dynamics

2q2

p1 p2

Sensor Outputs

11

Analytical Redundancies

System
Sensors

Redundant system output Intermediate system variables Analytical model

12

Outputs

Inputs

....

....

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 maintained Issue 2: Faults should result in reduction of the degree of redundancy first Issue 3: One should consider performance degradation with available redundancies.
13

Example of passive fault-tolerant control system

14

Description of system

15

Control system performance

16

Control system performance

17

Example of active fault-tolerant control system

18

Simulation results

19

Simulation results

20

Simulation results

21

Simulation results

22

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
23

Thank You !

24