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in Engineering Systems
Basic concepts with simple examples
Janos Gertler
George Mason University
Fairfax, Virginia
Outline
What is a fault
What is diagnosis
Diagnostic approaches
Model - free methods
Principal component approach
Model - based methods
Systems identification
Application example: car engine diagnosis
What is a fault
actuator command
sensor readings
Fault identification:
Determining the size of the fault
Determining the time of onset of the fault
Model-free methods
Fault-tree analysis
- cause-effect trees analysed backwards
Spectrum analysis
- fault-specific frequencies in sound, vibration, etc
Limit checking
- checking measurements against preset limits
Limit checking
flow
l1 l2 l3
s1 s2 s3
y1 y2 y3
y1 y2 y3
Easy to implement
Requires no design
BUT
u flow y1 = u
y2 = u
y1 y2
y2
Representation space
Fault
Normal spread
y1
u
Principal component modeling
u flow
u
y1 y2
y1 y2
y2
residual on u
observation
Repres. Space q3
q1 q2
y1
on y1 on y2
u
Residual Space
Residual Space Structural Property
u u u
r2 r3
r1
y1 y2 y1 y2 y1 y2
u y1 y2 Structure matrix
r1 0 1 1
r2 1 1 0 Fault codes
r3 1 0 1
Model-Based Methods
faults f(t)
outputs y(t)
inputs u(t) parameters
Empirical models
- neuronets
Analytical Redundancy
d(t) f(t) n(t)
u(t) y(t)
PLANT
+
e(t) RESIDUAL r(t)
PROCESSING
-
MODEL y^(t)
u(t) y(t)
PLANT
RESIDUAL
GENERATOR
r(t)
Residual Properties
Detection properties
- sensitive to faults
- insensitive to disturbances (disturbance decoupling)
- insensitive to model errors (model-error robustness)
perfect decoupling under limited circumstances
optimal decoupling
- insensitive to noise
noise filtering
statistical testing
Residual Properties
Isolation properties
u flow Model:
u y1 = u + u + y1
y1 y2
y1 y2 y2 = u + u + y2
Primary residuals:
e1 = y1 u = u + y1 u y1 y2
e2 = y2 u = u + y2 r1 1 1 0
Processed residuals: r2 1 0 1
r1 = e1 = u + y1 r3 0 1 1
r2 = e2 = u + y2
r3 = e2 e1 = y2 y1 Structured residuals
Residual Generation
u flow Model:
u y1 = u + u + y1
y1 y2
y1 y2 y2 = u + u + y2
Primary residuals: r3
e1 = y1 u = u + y1 on y1
e2 = y2 u = u + y2
r2
Processed residuals: on u
r1 = e1 = u + y1 r1
r2 = e2 = u + y2 on y2
r3 = e1 e2 = y1 y2 Directional residuals
Linear Residual Generation Methods
Perfect decoupling
- direct consistency relations
- parity relations from state-space model
- Luenberger observer
- unknown input observer
Approximate decoupling
- the above with singular value decomposition
- constrained least-squares
- H-infinity optimization
Linear Residual Generation Methods
System description:
y(t) = M(q)u(t) + Sf(q)f(t) + Sd(q)d(t)
q : shift operator
Primary residuals:
e(t) = y(t) M(q)u(t) = Sf(q)f(t) + Sd(q)d(t)
Residual transformation:
r(t) = W(q)e(t) = W(q)[Sf(q)f(t) + Sd(q)d(t)]
Dynamic Consistency Relations
Response specification:
r(t) = f(q)f(t) + d(q)d(t)
f(q) : specified fault response (structured or directional)
d(q) : specified disturbance response (decoupling)
Realization:
The residual generator W(q) must be causal and stable;
[Sf(q) Sd(q)] -1 is usually not so
Modified specification:
W(q) = [f(q) d(q)] (q) [Sf(q) Sd(q)] -1
(q) : response modifier, to provide causality and
stability without interfering with specification
Implementation:
inverse is computed via the fault system matrix
Diagnosis via Systems Identification
Approach:
- create reference model by identification
- re-identify system on-line
discrepancy indicates parametric fault
(fleet experiment)