Multiobjective fault detection and isolation for flexible air-breathing hypersonic vehicle

An application of the multiobjective fault detection and isolation（FDI） approach to an air-breathing hypersonic vehicle（HSV） longitudinal dynamics subject to disturbances is presented.Maintaining sustainable and safe flight of HSV is a challenging task due to its strong coupling effects,variable operating conditions and possible failures of system components.A common type of system faults for aircraft including HSV is the loss of effectiveness of its actuators and sensors.To detect and isolate multiple actuator/sensor failures,a faulty linear parameter-varying（LPV） model of HSV is derived by converting actuator/system component faults into equivalent sensor faults.Then a bank of LPV FDI observers is designed to track individual fault with minimum error and suppress the effects of disturbances and other fault signals.The simulation results based on the nonlinear flexible HSV model and a nominal LPV controller demonstrate the effectiveness of the fault estimation technique for HSV.

Sensor Fault Detection, Isolation and Reconstruction Using Nonlinear Principal Component Analysis

State reconstruction approach is very useful for sensor fault isolation, reconstruction of faulty measurement and the determination of the number of components retained in the principal components analysis （PCA） model. An extension of this approach based on a Nonlinear PCA （NLPCA） model is described in this paper. The NLPCA model is obtained using five layer neural network. A simulation example is given to show the performances of the proposed approach.

ASCS Online Fault Detection and Isolation Based on an Improved MPCA

Multi-way principal component analysis（MPCA）has received considerable attention and been widely used in process monitoring.A traditional MPCA algorithm unfolds multiple batches of historical data into a two-dimensional matrix and cut the matrix along the time axis to form subspaces.However,low efficiency of subspaces and difficult fault isolation are the common disadvantages for the principal component model.This paper presents a new subspace construction method based on kernel density estimation function that can effectively reduce the storage amount of the subspace information.The MPCA model and the knowledge base are built based on the new subspace.Then,fault detection and isolation with the squared prediction error（SPE）statistic and the Hotelling（T2）statistic are also realized in process monitoring.When a fault occurs,fault isolation based on the SPE statistic is achieved by residual contribution analysis of different variables.For fault isolation of subspace based on the T2 statistic,the relationship between the statistic indicator and state variables is constructed,and the constraint conditions are presented to check the validity of fault isolation.Then,to improve the robustness of fault isolation to unexpected disturbances,the statistic method is adopted to set the relation between single subspace and multiple subspaces to increase the corrective rate of fault isolation.Finally fault detection and isolation based on the improved MPCA is used to monitor the automatic shift control system（ASCS）to prove the correctness and effectiveness of the algorithm.The research proposes a new subspace construction method to reduce the required storage capacity and to prove the robustness of the principal component model,and sets the relationship between the state variables and fault detection indicators for fault isolation.

Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

A robust nonlinear analytical redundancy （RNLAR） technique is presented to detect and isolate actuator and sensor faults in a mobile robot. Both model-plant-mismatch （MPM） and process disturbance are considered during fault detection. The RNLAR is used to design primary residual vectors （PRV）, which are highly sensitive to the faults and less sensitive to MPM and process disturbance, for sensor and actuator fault detection. The PRVs are then transformed into a set of structured residual vectors （SRV） for fault isolation. Experimental results on a Pioneer 3-DX mobile robot are presented to justify the effectiveness of the RNLAR scheme.

Optimal selection of tests for fault detection and isolation in multi-operating mode system

The complex systems are often in the structure of multi-operating modes, and the components implementing system functions are different under different operation modes, which results in the problems that components often fail in different operating modes, faults can be only detected in specified operating modes, tests can be available in specified operating modes,and the cost and efficiency of detecting and isolating faults are different under different operating modes and isolation levels. Aiming at these problems, an optimal test selection method for fault detection and isolation in the multi-operating mode system is proposed by using the fault pair coding and rollout algorithm. Firstly,the faults in fault-test correlation matrices under different operating modes are combined to fault-pairs, which is used to construct the fault pair-test correlation matrices under different operating modes.Secondly, the final fault pair-test correlation matrix of the multioperating mode system is obtained by operating the fault pair-test correlation matrices under different operating modes. Based on the final fault pair-test correlation matrix, the necessary tests are selected by the rollout algorithm orderly. Finally, the effectiveness of the proposed method is verified by examples of the optimal test selection in the multi-operating mode system with faults isolated to different levels. The result shows that the proposed method can effectively mine the fault detection and isolation ability of tests and it is suitable for the optimal test selection of the multi-operating mode system with faults isolated to the replacement unit and specific fault.

Robust Fault Detection and Isolation Based on Finite-frequency H__/H_∞ Unknown Input Observers and Zonotopic Threshold Analysis

This work proposes a robust fault detection and isolation scheme for discrete-time systems subject to actuator faults,in which a bank of H_/H∞ fault detection unknown input observers(UIOs) and a zonotopic threshold analysis strategy are considered. In observer design, finite-frequency H_ index based on the generalized Kalman-Yakubovich-Popov lemma and H∞ technique are utilized to evaluate worst-case fault sensitivity and disturbance attenuation performance, respectively. The proposed H_/H∞ fault detection observers are designed to be insensitive to the corresponding actuator fault only, but sensitive to others.Then, to overcome the weakness of predefining threshold for FDI decision-making, this work proposes a zonotopic threshold analysis method to evaluate the generated residuals. The FDI decision-making relies on the evaluation with a dynamical zonotopic threshold. Finally, numerical simulations are provided to show the feasibility of the proposed scheme.

Performance of the geometric approach to fault detection and isolation in SISO,MISO,SIMO and MIMO systems

In this paper,a geometric approach to fault detection and isolation (FDI) is applied to a Multiple-Input Multi-ple-Output (MIMO) model of a frame and the FDI results are compared to the ones obtained in the Single-Input Single-Output (SISO),Multiple-Input Single-Output (MISO),and Single-Input Multiple-Output (SIMO) cases. A proper distance function based on parameters obtained from parametric system identification method is used in the geometric approach. ARX (Auto Regressive with eXogenous input) and VARX (Vector ARX) models with 12 parameters are used in all of the above-mentioned models. The obtained results reveal that by increasing the number of inputs,the classification errors reduce,even in the case of applying only one of the inputs in the computations. Furthermore,increasing the number of measured outputs in the FDI scheme results in decreasing classification errors. Also,it is shown that by using probabilistic space in the distance function,fault diagnosis scheme has better performance in comparison with the deterministic one.

A Fault Detection and Isolation Scheme Based on Parity Space Method for Discrete Time-delay System

A Fault detection and isolation(FDI)scheme for discrete time-delay system is proposed in this paper,which can not only detect but also isolate the faults.A time delay operator  is introduced to resolve the problem brought by the time-delay system.The design and computation for the FDI system is carried by computer math tool Maple,which can easily deal with the symbolic computation.Residuals in the form of parity space can be deduced from the recursion of the system equations.Further more,a generalized residual set is created using the freedom of the parity space redundancy.Thus,both fault detection and fault isolation have been accomplished.The proposed method has been verified by a numerical example.

Fault Detection and Isolation in Industrial Systems Based on Spectral Analysis Diagnosis

The diagnoses in industrial systems represent an important economic objective in process industrial automation area. To guarantee the safety and the continuity in production exploitation and to record the useful events with the feedback experience for the curative maintenance. We propose in this work to examine and illustrate the application ability of the spectral analysis approach, in the area of fault detection and isolation industrial systems. In this work, we use a combined analysis diagram of time-frequency, in order to make this approach exploitable in the proposed supervision strategy with decision making module. The obtained results, show clearly how to guarantee a reliable and sure exploitation in industrial system, thus allowing better performances at the time of its exploitation on the supervision strategy.

Hybrid robust fault detection and isolation of satellite reaction wheel actuators

In this paper,a combined robust fault detection and isolation scheme is studied for satellite system subject to actuator faults,external disturbances,and parametric uncertainties.The proposed methodology incorporates a residual generation module,including a bank of filters,into an intelligent residual evaluation module.First,residual filters are designed based on an improved nonlinear differential algebraic approach so that they are not affected by external disturbances.The residual evaluation module is developed based on the suggested series and parallel forms.Further,a new ensemble classification scheme defined as blended learning integrates heterogeneous classifiers to enhance the performance.A wide range of simulations is carried out in a high-fidelity satellite simulator subject to the constant and time-varying actuator faults in the presence of disturbances,manoeuvres,uncertainties,and noises.The obtained results demonstrate the effectiveness of the proposed robust fault detection and isolation method compared to the traditional nonlinear differential algebraic approach.

Diagnosis of process faults and sensor faults in a class of nonlinear uncertain systems

This paper presents a fault diagnosis method for process faults and sensor faults in a class of nonlinear uncertain systems.The fault detection and isolation architecture consists of a fault detection estimator and a bank of adaptive isolation estimators,each corresponding to a particular fault type.Adaptive thresholds for fault detection and isolation are presented.Fault detectability conditions characterizing the class of process faults and sensor faults that are detectable by the presented method are derived.A simulation example of robotic arm is used to illustrate the effectiveness of the fault diagnosis method.

Optimal State Estimation and Fault Diagnosis for a Class of Nonlinear Systems

This study proposes a scheme for state estimation and,consequently,fault diagnosis in nonlinear systems.Initially,an optimal nonlinear observer is designed for nonlinear systems subject to an actuator or plant fault.By utilizing Lyapunov's direct method,the observer is proved to be optimal with respect to a performance function,including the magnitude of the observer gain and the convergence time.The observer gain is obtained by using approximation of Hamilton-Jacobi-Bellman(HJB)equation.The approximation is determined via an online trained neural network(NN).Next a class of affine nonlinear systems is considered which is subject to unknown disturbances in addition to fault signals.In this case,for each fault the original system is transformed to a new form in which the proposed optimal observer can be applied for state estimation and fault detection and isolation(FDI).Simulation results of a singlelink flexible joint robot(SLFJR)electric drive system show the effectiveness of the proposed methodology.

Review of Fault Types, Impacts, and Management Solutions in Smart Grid Systems

Fault management study in smart grid systems (SGSs) is important to ensure the stability of the system. Also, it is important to know the major types of power failures for the effective operation of the SGS. This paper reviews diverse types of faults that might appear in the SGS and gives a survey about the impact of renewable energy resources (RERs) on the behavior of the system. Moreover, this paper offers different fault detection and localization techniques that can be used for SGSs. Furthermore, a potential fault management case study is proposed in this paper. The SGS model in this paper is investigated using both of the Matlab/Simulink and the Real Time Digital Simulation (RTDS) to compute the fault management study. Simulation results show the fast response to a power failure in the system which improves the stability of the SGS.

带有输出传输时延的网络化控制系统基于观测器的FDI设计(英文)

将网络控制系统 (NCS)看成一个具有输出时延的采样控制系统 ,并建立了其数学模型 .接着构造了一个故障观测器 ,产生了系统故障的指示器残差 .然后在此基础上介绍了一种故障检测和分离 (FDI)的方法 ,总结了FDI观测器的设计算法 .最后 ,一个实例证明了此方法的可行性 .

带FDI算法的无人机组合导航姿态确定控制系统设计

无人机导航系统的作用是提供导航数据给飞控计算机作为制导和控制用,因为飞控计算机的性能在很大程度上依赖于导航数据,导航系统的某一个错误可能会导致整个无人机的失败,因此,导航系统应具有故障检测和隔离(FDI)算法,介绍了一种用于无人机导航的FDI和低成本的组合导航系统,硬件包括低成本商业用MEMSIMU、GPS接收器、磁力计和导航计算机,软件包括带FDI算法的卡尔曼滤波。

GPS/DR组合导航系统故障探测与剔除(FDI)的容错设计

目前车辆组合导航系统存在的主要问题以及研究的重点是解决GPS多路径误差的干扰和DR传感器实时修正的问题.本文介绍了利用硬件余度方法和残差序列剔除粗差观测量的几种方法.综合2种思想,提出了一种适用于GPS/DR组合导航具有容错能力的自适应滤波设计方法.实验结果表明:本文给出的剔除GPS/DR组合系统粗差和自适应滤波的方法具有较好的效果.

基于ATML的机载电子系统原位测试系统设计与实现

针对直升机机载电子系统在执行任务过程中故障检测和隔离困难,外场维修保障效率低下,且缺乏快速有效故障检测工具现状的问题,设计了基于ATML标准的机载电子系统原位测试系统;阐述了原位测试系统的基本组成、工作原理、硬件结构、软件架构和测试电缆转接设计方法,以某型机载配电系统为案例进行原位测试需求分析及测试方案设计;利用基于ATML标准的测试软件平台SGTS进行原位测试程序开发,并将该方法应用至某型直升机原位测试系统研制;经实际验证,该原位测试系统的使用大幅提升了机载电子系统的故障检测与隔离率指标,为直升机外场排故提供了有效便捷的手段,提高了外场维护效率。

Ellipsoidal bounding set-membership identification approach for robust fault diagnosis with application to mobile robots

A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).

A gain-varying UIO approach with adaptive threshold for FDI of nonlinear F16 systems

A discrete gain-varying unknown input observer （UIO） method is presented for actuator fault detection and isolation （FDI） problems in this paper. A novel residual scheme together with a moving horizon threshold is proposed. This design methodology is applied to a nonlinear F16 system with polynomial aerodynamics coefficient expressions, where the coefficient expressions for the F16 system and UIOs may be slightly different. The simulation results illustrate that a satisfactory FDI performance can be achieved even when the F16 system is under the environment of model uncertainties, exogenous noise and measurement errors.