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2500

classical DC motor for gearbox


manual mode
power electronics II incl. brushless
power electronics I incl. microcontr.
microcontroller DC motor
microcontroller I
I

12.4
brushless DC II

sensores tolerantes a fallos


brushless microcontr.
1 DC motor
II
15
II

lever actuating the classical


brushless DC II outflow valve
DC

b us1
bus 2
motor
gearbox
(a) valve (b)

I 3 T 3

309
control)
rotor + classical DC
commutator gear
15:1
15:1 I 1 T 1

gear intervention (open loop

I setpoint T total j
2500: 1
power rotor
bus
I 2 T 2 gear valve emergency

valve
2 x power electronics and
brushless DC p setpoint
cabin
gear
2500:1
p cabin
power bridges windings rotor controller
information flow
bus
energy flow
12 Ejemplos de sistemas tolerantes a fallos

detección reconfiguración
de fallas

sensor
1
X1 sensor
1
sensor X0
votante X0
2

X1 sensor
sensor
2
3
(si)

plausibilidad reconfiguración
cheque

X1 sensor
1

X0
X1
sensor
2
(C)

. Tolerante a fallos sensores con redundancia de hardware: a) sistema de triplex con redundancia estática y de espera

) sistema dúplex con redundancia dinámica, de espera caliente; c) sistema dúplex con redundancia dinámica, de espera
controles de plausibilidad

a un proceso con un solo sensor de salida y 1 y el sensor de una entrada u, La salida

e ser reconstruido si el modelo de proceso sol M1 es conocida, Figura 12.15b) . En ambos casos, la
entre las señales del proceso se utilizan y se expresa en forma de modelos analíticos.

a obtener un valor de medida de tolerancia a fallos utilizable y 1FT, al menos tres valores diferentes para Y, por ejemplo
os uno y dos reconstruidas, debe estar disponible. Esto se puede obtener mediante la combinación de los esquemas
12.15a) y si) como se muestra en Figura 12.16a) . Un fallo de sensor y 1 a continuación, se detecta y enmascarado por e
mayoría y tampoco O

y 1 o O y 1u se utiliza como un reemplazo dependiendo de una nueva decisión. (También,


ensores individuales en y 2 o u son tolerados con este esquema.)

ejemplo de esta redundancia analítica combinada es el sensor de velocidad de guiñada para la ESP (programa o de
estabilidad) de los vehículos, en donde, además, el ángulo del volante como entrada se puede utilizar para

r la velocidad de guiñada a través de un modelo de vehículo como en Figura 12.15b) , Y la aceleración lateral y la de
velocidad de rueda de la rueda derecha y la izquierda (sin deslizamiento) se utilizan para reconstruir la velocidad a
según

2.16a) .

ore sistema tolerante a fallos sensor general puede ser diseñado si dos sensores de salida y mediciones de to
sensor una entrada de la misma calidad. Luego, tres residuos pueden ser generados y por una lógica de salidas
tolerantes a fallos se pueden obtener en el caso de fallos individuales de cualquiera de los tres sensores. escribe en
[12,19], Capítulo 19. Los residuos se generan sobre la base de ecuaciones de paridad. En este caso, res de estado
también se pueden utilizar para la generación de residuos, comparar, por ejemplo, el ob- dedicada
12.4 sensores tolerantes a fallos 311

y1
u sensor
sol 1
1

^
yy sol METRO 1 y1
proceso 2
sol 2
y 2 sol METRO 2

modelos de
proceso
(una) procesos

y1
u sensor
sol 1 modelo de
y1

proceso y1u
^
sensor
solMETRO
u 1

sensor
(si)

. tolerancia a fallos de sensor para una señal de salida y 1( sensor principal) a través de la redundancia analítica por modelos o
(esquemas básicos): a) dos salidas medidos, no de entrada medida;
ada medido y uno de salida medida. sol yo W sol yo. s / funciones de transferencia.

s de [12,7]. (Tenga en cuenta que todos los regímenes asumen casos ideales. Para el realizibility, limitaciones y filtros s
tienen que ser considerados.)

s posible, un sensor defectuoso debe ser a prueba de silencio, es decir, debe ser desconectado. Sin embargo, esto
ruptores adicionales que disminuyen la fiabilidad. Por tanto el hardware y la redundancia sensor analítico sin la de
fallos para los sensores individuales, al menos tres mediciones deben estar disponibles para que un sensor a
funcionamiento. Sin embargo, la detección de fallos si el sensor (sistema) se ha construido en-(integrado robación o
selfvalidating), dos mediciones son suficientes y un esquema como Figura 12.14b) puede ser aplicado. ifica que por
los métodos de detección de fallos, un elemento puede ser guardado).

mplos de sistemas de sensores tolerantes a fallos se describen en lo siguiente.

ángulo de dirección 12.4.3

zación considerado primera de un sensor de tolerancia a fallos es el sensor de ángulo de dirección, ver Figura 2,12],
[12,46]. Se requiere información sobre el ángulo de dirección para muchos sistemas de asistencia al

r, como el control electrónico de estabilidad y la alerta de cambio de carril. Por lo tanto, la medición fiable del e
dirección es importante para la acción correcta de los sistemas de control del vehículo.

base del sensor son dos GMR (magnetorresistencia gigante) puentes de medición. El eje de la rueda de está
equipado con una rueda de engranaje que acciona dos piñones. Cada piñón gira un imán
nte cuya posición es entonces detectada por uno de los dos sensores GMR. Cada sensor puede medir
azamiento en el intervalo 90 yo to90 yo con una resolución de 0: 1 yo. Los dos sensores utilizan el Nonius /
12 Ejemplos de sistemas tolerantes a fallos

proceso

u y1
sol1 y 1

^ y
y2 GG 1 votante
1 PIE
METRO 1

sol 2 y2 METRO 2
modelos de
procesos ^
y
sensor 1 u
sol
u METRO 1
modelo de

proceso

proceso

yy
sensor 1

sol1 y1 1 PIE

sensor y2

sol2 y2 + r1
^
y - yy
sensor 1u 2 PIE
sol
u METRO 1

^ + r2
y2
-
u

sol r
METRO 2
+ 3 u 3 PIE
^ -
GG y
METRO 1 1
METRO 2

modelos de generación residual y


procesos la lógica de decisión

6. Tolerante a fallos sensores con redundancia analítica combinada para dos salidas medidas y una entrada través de
modelos de procesos (analítica): a) y 1 es la medición principal, y 2, u son medidas auxiliares
ción de Figura 12.15a) y si) ; si) y 1, y 2 y
diciones de misma calidad (paridad enfoque ecuación)

para ser capaz de medir la posición absoluta precisamente hasta ˙ 720 yo. Una vez se ha establecido la
absoluta (por ejemplo, después de que el arranque del motor), la información proporcionada por uno solo
de ensores es su fi ciente para determinar los cambios relativos en la posición. La evaluación de los sensores
a on la detección de fallos está integrado en dos micro-controladores separados, que supervisan
nte. Durante el funcionamiento normal, el maestro está conectado al bus y el esclavo sólo se emplea el

el maestro. Tras una avería, el maestro se apaga y el esclavo está conectado al bus, que está simbolizado
erruptor. El sistema es FO-FSIL ya que puede sostener un fallo en un sensor o micro-controlador sin
impedimentos, sólo la precisión de la medida de posición se convierte en un poco menos precisa. Tras una
e la segunda GMR, el módulo de sensor no puede funcionar por más tiempo y conmuta sí mismo o.
12.4 sensores tolerantes a fallos 313

controlador 1 (maestro)
sensor 1

1 re dirigir
supervisión

2
(si) sensor re 2 controlador 2 (esclavo)

Con tolerancia a fallos del sensor de ángulo de dirección: a) sistema; b) diagrama esquemático y el bloque, [12,46]

rante a fallos del sensor de flujo

.18 presenta un sensor de flujo con tolerancia a fallos, que emplea dos principios de medición diferentes para ón de
la fl ow. En primer lugar, la velocidad de flujo del fluido es determinada por una generador de vórtice. El r de vórtice
se utiliza para generar remolinos en su lavado. La emisión de vórtices conduce a vértices, que a usa pulsaciones de
presión con una frecuencia que es proporcional al volumen de velocidad de flujo. Las es son ya sea detectada por un
sensor de presión o por un transductor de fuerza que está conectado al

r de vórtice. El segundo principio de medición se basa en una medición de presión diferencial: La caída de ntre el
unconstricted y la parte estrechada de la tubería es una medida para la velocidad de fluido, de acuerdo de Bernoulli.
La idea detrás de sensor de velocidad de la fl tolerante a fallos ow es que el sensor de presión al también se puede
utilizar para detectar las pulsaciones de presión de alta frecuencia inducidas por los

n la estela del cuerpo represar, ya que sólo actúan sobre uno de los dos a la presión líneas de detección.

señal proporcionada por el sensor de presión diferencial es por lo tanto sujeto a paso bajo ltrado fi
el terminar la presión media diferencial entre el punto de unconstricted en la estela del generador
de el punto en la zona estrechada con el chorro Ventouris. La señal es a la vez suministrado a un
filtro alto que le permite a uno para separar las oscilaciones de presión de alta frecuencia que son s
por los vértices. Un posterior transformada de Fourier permite determinar la frecuencia de la

n de torbellinos. Un algoritmo de detección de fallos integrado permite detectar fallos y atribuirlos a


os dos principios de medición, lo que permite una consolidación de las mediciones, [12,39]. Los dos
s de medición diferentes tienen diferentes precisiones en diferentes áreas del intervalo de medición.
re la pérdida de un principio de detección, la precisión del sensor puede caer. La parte más crítica es
r de presión diferencial. Si este sensor falla, todo el módulo sensor estará fuera de operación. Por lo
sistema es solamente FO-FSIL con respecto a los principios de detección y, por ejemplo, los canales
ción.
12 Ejemplos de sistemas tolerantes a fallos

de vórtice sensor

boquilla dosificadora

(una) re pags generador

Transformada
de paso alto
de Fourier
VC
re pags sensor

paso bajo

detección de fallos y
(si) diagnóstico

Con tolerancia a fallos de sensor de velocidad flujo: a) sistema; b) diagrama esquemático y el bloque, [12,39]

acelerador electrónico

plo para un diseño tolerante a fallos es el acelerador electrónico tolerante a fallos, ver Figura 12.19 . El motor un
motor de corriente continua clásica con los cepillos, se puede monitorizar el uso de métodos basados en El
modelo físico del motor junto con la mecánica también permite que uno de monitorizar los dos

metros y permite que el sistema para decidir cuál de las dos lecturas del potenciómetro puede estar defectuoso, a
Sección

o de conceptos de redundancia dinámicos, el sistema es así capaz de soportar falla un sensor pesar del uso

os en lugar de tres sensores, como hubiera sido necesario en el caso de redundancia estática, véase [12,45]. Figura
resenta el concepto de redundancia y Figura 12.21 muestra una reconfiguración fi de un fallo pegado de un

metro en bucle cerrado, [12,18], [12,45]. El sistema está activo a prueba de fallos (FS) con respecto a los motor.
Muelles de retorno el centro de la válvula de mariposa en una posición ligeramente abierta a una

el par motor (posición limp-casa). Con respecto al sensor fallos, el sistema es FO-FS. Se puede sostener un
ensor. Después de que el segundo fallo del sensor, el sistema se apaga y los muelles de retorno una vez r el
acelerador en la posición ligeramente abierta.

ncia analítica 12.4.6 unidad virtual sensores dinámicos por modelo basado

2.22 muestra un enfoque de tolerancia a fallos en el nivel de sistema, no el nivel de componente. Aquí, las
de diferentes sensores se unen, con el objetivo de proporcionar mediciones consolidados a los
ores de dinámica de accionamiento. El diseño general se puede aplicar también al desarrollo de
as de información tolerantes a fallos para otras aplicaciones.
12.4 sensores tolerantes a fallos 315

potenciómetro
doble

acelerador

válvula

engranaje

muelles para el hogar conmutador y motor DC


(una) cojera volver escobillas convencional

j1 j2

clásico
motor

de corriente continua
(si)

energía de flujo

de mariposa flujo de

suministro conmutador bobinados rotor engranaje muelle de información válvula

(C) de ECU retorno

^
T1 T2 j j 1
la válvula 1
T DC motor engranaje ^C
del acelerador potenciómetro j
clásica yo

^
muelle de potenciómetro j 2

retorno 2

detección de fallos y
diagnóstico

(re)

9. Fault-tolerant electronic throttle: a) throttle plate with gear and DC motor; b) schematic; c) energy flow
d) signal flow scheme [12.45]
-

12 Examples of fault-tolerant systems

j1k j 1 kFT
sensor
G 11 G 12
jk1 + r1
armature circle electromechanics
sensor sensor
j2k - j2 kFT

IA jk 2 d
IA dt

sensor GM1 j^ k + r2
UA UA
process
model
generation of residuals and
logic decisions

0. Fault-tolerant position sensor system with two potentiometers and a virtual, modelbased position value

control with j 1 k control with j 2 k

failure of position sensor j 1 k ( sensor is stuck)

100 nominal value j 2 k actual value j KW

actual value 50
nominal value
j KW, j 1 k, j 2 k
variable j k j1k
[degree]
0
0 0.5 1 1.5 2 2.5 3
nominal value,

resistance
U A [ V] 10
- 10 0

0 0.5 1 1.5 2 2.5 3

diagnose threshold
residual
5
- r 2 [ V] armature
0

-5 r unfiltered

0 0.5 1 1.5 2 2.5 3

r 1 = j 1 k- j 2 k
- 20 0
[degree]

- 40
0 0.5 1 1.5 2 2.5 3
time [s]

1. Position control with stuck sensor 1k and reconfiguration with the second
sensor ed loop
12.4 Fault-tolerant sensors 317

t, the signals are preprocessed, then quantities which cannot be measured or which can only be with
expensive or complicated equipment are reconstructed. The reconstruction is based on drive models
of different complexity and employs observes, Kalman filters, parameter estimation
ms, and local linear neural nets. The fault detection and diagnosis is another important block as all
are supervised to identify faulty sensors, which are then masked and replaced by estimated
s in the block on fault-tolerance methods. Finally, the information platform provides the extracted
ion to the drive dynamics controllers. These controllers can now not only control directly
able quantities, but can also control other, reconstructed and more informative quantities, see
The drive-dynamics information platform is is at least FO-FSIL, but in many cases can sustain an
one sensor fault.
12 Examples of fault-tolerant systems
calculation of information
nonmeasurable retrieval
quantities

kinematic model parity equations


single-track two-track parameter estim.
analytical models roll, observers Kalman filter

to vehicle dynamics control systems


longitud. neural nets adaptive thresholds fuzzy
logic

calculation of non-
preprocessing fault detection and fault-tolerance
measurable
diagnosis methods
quantities
dH v
Kalman filter neural parity equation fd extended Kalman Bucy ^ FT
nets nonlinear ^ y Mess lateral/roll parameter y
y mj fy f filter twotrack model
observers ^ estim. lateral Kalman filter
y fy ^
m
w
o

o
a

a
n

n
-

s
s

s
t
r

t
l

parameter b
parameter estim. roll single-track model
Y Mess ^ y Mess y FT
estimation parity equations & fj reconfiguration
j
m
e
r
t
f
i
l

y Mess geometric ^ ^ parameter est.


equations gquantitiescyCalc^
f ^c ^
longitudinal
x fw y Calc x FT
^ fuzzy-diagnosis
^
wj
^
v FT

sensor filtered calculated sensor faults controlled


signals measurement quantities

g. 12.22. Virtual drive dynamics sensor system, [12.16]. A fault-tolerant sensor platform with analytical redundancy for yaw rate P , lateral acceleration
Part V

Appendix
nology in fault detection and diagnosis

owing definitions are the result of a coordinated action within the IFAC Technical Committee
ROCESS, published in [13.3]. Some basic definitions can also be found in [13.1], [13.4] and in
standards like DIN and VDI/VDERichtlinien, see references at the end of this section and [13.2].

es and signals

ult: Unpermitted deviation of at least one characteristic property of the system

ilure: Permanent interruption of a systems ability to perform a required function


under specified operating conditions
lfunction: Intermittent irregularity in fulfilment of a systems desired function

or: Deviation between a computed value (of an output variable) and the true,
specified or theoretically correct value
turbance: An unknown ( and uncontrolled) input acting on a system
rturbation: An input acting on a system which results in a temporary
departure from a steady state
sidual: Fault indicator, based on deviations between measurements and
model-equation-based calculations
mptom: Change of an observable quantity from normal behavior.

tions

ult detection: Determination of faults present in a system and time of de-


tection
ult isolation: Determination of kind, location and time of detection of a
fault by evaluating symptoms. Follows fault detection
ult identification: Determination of the size and time-variant behavior of a fault. Follows
fault isolation
13 Terminology in fault detection and diagnosis

ult diagnosis: Determination of kind, size, location and time of detection


of a fault by evaluating symptoms. Follows fault detection. Includes fault
detection, isolation and identification
nitoring: A continuous real-time task of determining the possible conditions of a
physical system, recognizing and indicating anomalies of the behavior

pervision: Monitoring a physical system and taking appropriate ac-tions


to maintain the operation in the case of faults
otection: Means by which a potentially dangerous behavior of the system is
suppressed if possible, or means by which the consequences of a
dangerous behavior are avoided.

els

antitative Use of static and dynamic relations among system variables and
del: parameters in order to describe a system’s behavior in quantitative
mathematical terms
alitative Use of static and dynamic relations among system variables and
del: parameters in order to describe system’s behavior in qualitative terms
such as causalities or if-then rules
agnostic A set of static or dynamic relations which link specific input variables – the
del: symptoms – to specific output variables
– the faults
alytical Use of two, not necessarily identical ways to determine a quantity where
undancy: one way uses a mathematical process model in analytical form.

em properties

liability Ability of a system to perform a required function under stated conditions,


within a given scope, during a given period of time. Measure: MTTF =
mean time to failure. MTTF = 1=

is rate of failure (e.g. failures per hour)


fety: Ability of a system not to cause danger to persons or equipment or the
environment
ailability: Probability that a system or equipment will operate satisfactorily and
effectively at any point in time. Measure:

A D MTTF
MTTF C MTTR

MTTR mean time to repair MTTR D


1= I W rate of repair
13 Terminology in fault detection and diagnosis 323

ces on terminology

24 Fehlerbaumanalyse (fault tree analysis). Beuth Verlag, Berlin, 1990. DIN 31051 Instandhaltung
nance). Beuth Verlag, Berlin, 1985. DIN 40041 Zuverl¨
assigkeit in der Elektrotechnik (Reliability in electrical engineer-).
Beuth Verlag, Berlin, 1990. DIN
uverl¨ assigkeit elektrischer Ger¨ ate, Anlagen und Systeme (Reliability of ctrical devices,
plants and systems). Beuth Verlag, Berlin, 1989. DIN 55350 Begriffe
lit¨ atssicherung und Statistik (Terms in quality control d statistics). Beuth Verlag,
Berlin, 1989.
rking group 10.4. Reliable computing and fault tolerance, meeting in Como,
ly, 1983. Laprie, J.C. (1983). On computer system dependability and un-dependability: faults,

ors, and failures. IFIP WG 10.4, Como, Italy, 1983.

Mess- und Automatisierungstechnik. ( 1992). VDI Verlag, D¨ usseldorf. ty, Availability, and
Maintainability Dictionary. ASQC Quality Press, Mil-ukee, WI, 1988.

n, A. (1982). A user-oriented perspective of fault-tolerant systems, models


d terminologies. Proceedings of the 12th International Symposium on FaultTolerant Computing, Los les.
VDI/VDE-Richtlinie 3541. Steuerungseinrichtungen mit vereinbarter gesicherter

nktion. Beuth Verlag, Berlin, 1985. VDI/VDE-Richtlinie 3542. Sicherheitstechnische


f¨ ur Automatisierungssys-me. Beuth Verlag, Berlin, 1988. VDI/VDE-Richtlinie 3691. Erfassung
erl¨ assigkeitswerten bei Prozessrech-
reins¨ atzen. Beuth Verlag, Berlin, 1985.
uding remarks

n the fault-detection and fault-diagnosis methods treated in the book FaultDiagnosis Systems ( 2006), r-
Verlag, this book has shown how the different methods can be applied to the various technical
es. The selection of different technical processes shows by the use of process-model-based and signal-modelbased s
how several analytical symptoms can be generated to detect a larger number of faults, lly in an earlier fault-
development phase and to diagnose the faults.

cess-model-based fault detection can be realized with the aid of process models and several ements.
The application of process-model-based faultdetection methods requires that at least one d one
corresponding output signal can be measured. The additional measurement of signals in al flow
between the input and output signals may support the fault-detection capability. The models used
have to be relatively precise. Herewith it is recommended that the model structure ed from a
physical/theoretical modeling approach and that the parameters of the used process re estimated by
experiments with parameter estimation methods. Linear dynamic models can be ite often, especially
for stationary operating states. The kind of nonlinear models results mostly oretical modeling based
on balance equations, constitutive equations and phenomenological

processes in stationary operation around a fixed operating point especially parity equations can
essfully applied. Examples are components of industrial plants like pumps, heat exchangers, and s. In
the case of nonstationary, dynamic operation parameter-estimation methods allow the
n and the differentiation of a larger number of faults, also if only a few measurable signals are e.
This holds, for example for drives, actuators, robots, pumps, machine tools, heat exchangers icles. In
combination with parity equations several symptoms can be generated which enable a fault
diagnosis. Parameter estimation requires in general an appropriate excitation of an input ither from
normal operation or artificially introduced. Parity equations or state observers can also ed if the
input signals do not change.
Concluding remarks

lt-detection methods based on signal models may be based on periodical or stochastic measured It
is then possible to analyze single sensor outputs. Processes with periodic operation cycles are ple
oscillating reciprocating pumps, combustion engines and some machine tools. Then, al signal models
can be applied. Changes induced through faults can be detected by the
on of amplitudes, phases and frequencies with the methods of Fourier or wavelet analysis or by
ss filters. If only a few unknown frequencies have to be estimated an ARMA signal parameter
on can be used. A combination of signal-model analysis with process-model-based methods, e.g.
quations for mean value process models increases the number of symptoms and therefore the
erage like for combustion engines or for reciprocating pumps.

namic state-space observers could be successfully applied for the leak detection of gas pipelines
aks appear as state-variable changes of a pipeline section. However, if state variables are not d
directly by faults, e.g. by parameter changes, then state-space observers are usually not
. Fault-sensitive observers, dedicated observers or output observers and corresponding Kalman hich
are specially designed for fault detection assume generally multi-variable process models. en yield
about the same results as the simpler parity equations. Linear and nonlinear state space rs are,
however, very well suited to determine non-measurable values as the slip angle for
or stresses and temperatures in mechanical components.

pecial problem is the fault detection in and for closed loops as they compensate small faults of s,
sensors and processes. Therefore, they are difficult to detect. Only larger faults change the
performance significantly. However, similar changes of the control behavior arise for larger nces
or for not welltuned controllers. Then a combination of several detection methods is .

table on the next page gives a summary of the application of model-based fault-detection
s for the processes treated in this book. It depicts the kind of operation, the measured variables,
linear or nonlinear process models, the kind of identification, the use of the different ection
methods, and the number of detected faults.

ault diagnosis requires in general the generation of several significant symptoms. In this book
ault-symptom tables have been used as a common easy to interpret representation. A
iation (isolation) of special faults is then possible if the signs and the values of the symptoms are
ntly different. Then in many cases a simple pattern recognition is sufficient to be used for
ation. For a systematic treatment of fault-symptom trees with a following up of different decisions
oximative reasoning with if-then-rules by fuzzy logic is a feasible way and was especially
ful. The application of this inference-based method was described for some processes.

he case of electrical driven drive trains directly measurable variables of electrical motors like current
and speed can be used for the fault detection of the electrical motor and additionally also onnected
mechanical parts like gears and any machinery. This can be called “drive-as-sensor
” and was demonstrated, e.g. for electrical actuators, pumps and machine tools.
Application of model-based fault-
detection methods (IAT, TU Darmstadt) X successful, (x) not recommended, [3 : three pressure sensors] p

ocess Operation mode Measure- ments Process models Signal models No. of
dentification detected
.faults
stationarynonstationaryopen closed linear non- i parity observer nonparametrparametr.
loop loop linear equations

Concluding remarks
correlationparam. net output equat. fault ARMA
observer state

estim. models error error observer


ectromotor
C XXX U ,I , w XX X X (x) (x) 7
AC X X U ,I , w X X X X >9
tuator
electrical XX U I, , w, j XX X X 5

327
pneumatic X X w, z, v X 6
hydraulic X X u, z, p3 X X (x) X 16
ustrial robot X X U I, , w, j X X 6
chine tools
feed drive X X U I, , w, z X X Fourier-Tr. 7
milling X j ,j1 ,2z X X transf. 3
grinding X X X I ,z X X (x) X 3
peline
quid X X X 2 m,2 p X X 1
as Pumps XX X 2 m,2 p X X 1

centrif. (DC) X X X U, I, p,VD X X 15


centrif. (AC) X I, w, D p,V X X Bandpass 9
diaphragm X X p,z, j X X 4
Concluding remarks

last chapters of this book have shown that another way to cope with appearing faults is the f
fault-tolerant systems, for example for drives, actuators and sensors or certain process ents. This
requires generally a redundancy and a possibility to reconfigure the system after the ection of a
component.
re results for the fault diagnosis of internal combustion engines and automobiles will be published
ate books.
ences

er 1

ke, M., Kinnaert, M., Lunze, J., and Staroswiecki, M. Diagnosis and fault-
erant control. Springer, Berlin, 2nd edition, 2006.
n, J. and Patton, R. Robust model-based fault diagnosis for dynamic systems.
uwer, Boston, 1999.
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r Closed loop 42 Condition
ating current 63 fault monitoring 1, 3 Converter 67
on 71, 177 fault-tolerant Cutter 245 Cutting force 243
odel 64 Actuator

6 DC motor

cal 81, 87 brushless 98 direct current 49


omagnetic 81 fault electronic commutation 100 model 49,

ion 85, 91 fault diagnosis 88 test bench 49 Degradation steps 287


Dependability 21 Detection
5 fault-tolerant 301, 306
105

ulic 105, 302 models

fault 22 Diagnostic
eter estimation 91 pneumatic 121
knowledge
control 83 quality control 89
analytic 208
e 88 throttle valve 87 Adaptive
heuristic 208 Drilling
lds 27 Aircraft cabin pressure 8
Alarms 2, 12 Assessment
Fault detection 237 models 234 Drilling
machine 234 Drive-as-sensor principle 179,
257

Electrical drives
43 prognostic fault diagnosis 49
fault-tolerant 294 survey
nagement 1, 3, 5 50 Electrical throttle
ty 19, 322

fault detection 91 fault


detection 26 diagnosis 96 model 88
Fault management 5, 6 Fault
Index
tolerance 21, 285
Fault-symptom tree 55
SELECT 55 Fault-tolerant control system
etection 85 model
291 Fault-tolerant systems

on control 83 Ethylene
actuator 301 basic redundant structures
199
285 DC actuator 306 degradation 287 drive
dynamic sensors 314 dynamic redundancy
, 17, 18 Fault
286 electrical drives 294 electrical throttle
314 examples 292 flow sensor 313
ve 32, 55 evaluation 16
frequency converter 298 hydraulic
licative 32, 55 tree 61,
actuators 302 sensors 308 static
redundancy 286 steering angle sensor 311
Feed drives 226, 240
ection 3, 11, 15, 22, 321
otor 71 actuator 85 closed loop 41
cutter evelopment 44 experimental
results 55 ulic pump 172 knowledge-
based 22 ear parity equations 156
parameter ation 34, 54, 91, 149,

cascade control 228 fault


detection 229 identification
229 Field-oriented control 65
Flow valves
56, 225
equations 37
fault detection 130, 138
ss-model-based 30
Frequency converter
CT 55
fault-tolerant 298 Functions 321
-based 24, 29, 66 state
Fuzzy logic 41, 57, 95, 209
ation 35 state observers
minology 321 valve 115

Grinding
models 252 Grinding
on sensors 165 Fault diagnosis 11,
machine 251
4, 39
or 105
Health monitoring 5 Heat
ical knowledge 212
exchangers 259
fication 39 closed loop 41
fault detection dynamic behavior
er 115
275, 278
fault detection static behavior 270 models
cal actuator 81
dynamic 264 models stationary 262
cal drives 49 error 11
steam/water 274 types 259 Hydraulic servo
axis 105
1, 17, 321 hierarchical
draulic pump 172
nce 41

edge-based 22 pumps
rminology 321 valve
l 111 structure
Index 353

methods 41
n 16 Integrity 21 pipe systems 146 pipeline 182
robot axis 206 spool valve 111
two- and three mass 226 two-mass
lter 37, 317 221 Monitoring 1, 12 Motor

ection 181, 187


pelines 195 state
rs 188 Life cycle 3
AC 63 DC 49 induction 64 multi-
cking 2, 12, 25 Liquid phase 301 MTTF (mean time to failure)
190 20 MTTR (mean time to repair) 20
ar model tree (LOLIMOT) 72,
63, 278

tools
iagnosis 217 Network models
re 217 supervision LOLIMOT 72, 163, 278 neural 72
chines

g 234 grinding Output observer 35


ling 239 Main
1 Maintenance Parameter estimation 34, 54, 223 Parity
equations 37, 52 Pipe systems

on 11, 17, 18, 321 models 146


nic systems 2 Methods Pipelines
gas 195, 202 gasoline 201 leak
fication 39 detection 181, 187 liquid 190
etection 11, 30 models 182 supervision 181
iagnosis 11, 39 Plausibility
ce 41 SELECT 59
analysis 29 Milling

checks 28 Pneumatic
ls 239 Milling actuator 121
239 Model 322 construction 122
Pneumatic valves
matic valves 125 Models 221, 226, fault detection 128, 130 faults
, 252 124 model 125 power electronics
ugal pump 146 cylinder
rilling 234 grinding 252
xchangers 259 milling fault detection 66 PRBS (pseudo-random binary
signal) 55 Process 1

asset management 3
automation 1, 2 condition
monitoring 1 fault management
Index Servo axis
hydraulic 105 Signal
321
analysis 29
ls 32
States 321
ct life cycles 3
state estimation 36 state
sion 1 Protection
observer 36, 188 Structures

atic 13
basic redundant 285
s 2 Pumps
Supervision 1, 11, 14
basic tasks 11 data flow
ugal 143
structure 43 Symptom 22
ragm 171 drives

analytical 22, 208


etection 143, 156 hydraulic generation 22 heuristic 23,
odels 146 reciprocating
208 System
upervision 143 with AC 159
with DC motor 150
availability 19, 20
dependability 21
fault-tolerant 291 integrity
21 properties 322
reliability 19 safety 19, 20
ontrol 3, 11, 89

uration 5, 16, 316


ncy 21, 285
Terminology 17, 321
ic 286 static 285
fault detection 321 fault
y 19, 322 Repair
diagnosis 321 references
s
323 Threshold

adaptive 27
210
checking 12
tic symptoms 210 industrial
Throttle
odels 206 structure 205
electrical 87, 314 Trend
checking 25

Valves
, 322
faults 124 pneumatic 125
Vibration sensors 165

311 flow

dancy 308

olerant 308

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