Pdf analytical redundancy methods in fault detection and. Fault diagnosis in dynamic systems using analytical and knowledgebased redundancy a survey and some new results paul m. The chapter describes the main residual enhancement techniques. Fault handling techniques, fault detection and fault isolation. The technique was tested by simulation and the results are good. In case of missing data or model parameters in tensor representation. Instrument fault detection and identification based on. The residual is generated automatically from sensor output values using parity equations and it is analyzed under healthy and sensor fault modes to determine. A fault detected when there is not occurred a fault in the system. Related tasks are also fault isolation and fault identification. Survey on faulttolerant diagnosis and control systems. Fault detection and isolation using analytical redundancy. Performance requirements in aeronautics and the rapid growth of electronics, especially of digital computers, have gradually led to the combination of advanced control theories and flybywire technology. It consists of detection of faults in the processes, actuators and sensors by using dependencies between different measurable signals.
The proposed analytical redundancy based fdi algorithms and the linearized vehicle model were modeled in simulink. Two fault tolerant criterion fail op, fail op, fail safe 1 2 3. In order to implement this method,weneed,inthefirsttime,todeterminethemea. Fault detection and isolation with redundant strapdown inertial measurement unit is critical for ensuring the reliability of the guidance. Pdf analytical redundancy and the design of robust failure. Atkins,2 and stephanie ogura3 university of michigan, ann arbor, mi, 48109. Elena dubrova, esdlab redundancy allocation a number of possibilities has to be examined. Because the system input of the mraa during the preflight test is predetermined, the fault detection, fault diagnosis, and performance assessment for the mraa are conducted under a single condition. Survey on fault tolerant diagnosis and control systems 357 357 expected behavior is called residual. Us4634110a fault detection and redundancy management. Speed and current sensor fault detection and isolation.
Analytical redundancy methods in fault detection and isolation. This book gives an introduction into the field of fault detection, fault diagnosis and fault tolerant systems with methods which have proven their performance in practical applications. American institute of aeronautics and astronautics 1 fault detection and failsafe operation with a multiple redundancy airdata system ryan d. Appropriate algorithms are used to detect the faults, and the results are then discussed. A strategy dedicated to the optimization of the detection. Assume that the system is running with copy0 as active unit and copy1 as standby. Fault detection, diagnosis, and performance assessment. Abstractfuture multiconstellation global navigation satellite system gnss will provide a large number of redundant ranging signals, which will improve the performance of receiver. The fault detection scheme is based on sensor signal characterization and monitoring and on the comparison and fusion of redundant sensor measurements. The required reliability is usually achieved by a multiplication of sensors, computers and actuators. Todetect transmission erroes the transmittin system introduces redundancy in the transmitted information.
Conflicts versus analytical redundancy relations irisa. Incident detection and isolation in drilling using. Adaptive fault detection exploiting redundancy with. Elmaghraby a thesis submitted in partial fulfillment of the requirements for the degree of masters of applied science masc in natural resources engineering the faculty of graduate studies laurentian university sudbury, ontario, canada. Intelligent vehicle embedded sensors fault detection and. Realtime rt fault detection is conducted during the flight, and provides the pilot with fault information quickly enough to take appropriate action. A fault detection and isolation fdi algorithm was developed using a majority voting scheme, which was then used to detect faulty sensors to maintain safe drivability. A configuration with dynamic redundancy needs at least two sensors and fault detection for each sensor, 19. It discusses the fundamentals of residual generation. Frank gerhardmercatoruniversity of duisburg, germany keywords. This paper is a result of literary search for detection and removal of such faults. The high redundancy actuation hra project investigates the use of a relatively high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance.
Note that 6 did not consider fault detection in the presence of mpm and process disturbance. Fault detection via smt complete redundancy without complete replication leverages idle hardware already on chip uses interthread communication to decrease execution time require less hardware it can use time and information redundancy in places where space redundancy. Transient fault detection and reducing transient error rate. A general problem of such a computerbased instrument fault detection scheme is the separation of faults caused by the system itself and by faults of the sensors. For safetyrelated processes fault tolerant systems with redundancy are required in order to reach comprehensive system integrity. Analytical redundancy and fuzzy inference in auv fault.
Fault detection and isolation of a threetank system using. Quadruple adaptive redundancy with fault detection estimator. Fault detection is often required before any recovery procedure can be initiated. A popular approach to perform fault detection in safety critical systems is to exploit. Fault detection and failsafe operation with a multiple. It is necessary a low rate of false alarms missed detection. The following figure describes the fault handling lifecycle of an active unit in a redundancy pair. Fault avoidance and tolerance technique free download as powerpoint presentation. For example, changes in process parameters have to distinguished from sensor failures to. Design a fault detection, isolation, and recovery fdir application for a pair of aircraft elevators controlled by redundant actuators. Fault detection and identification for proprioceptive sensors using analytical redundancy and road signature determination.
Generation of analytical redundancy relations for fdi purposes. A diagnosis problem is defined by the system model sm, a set of observations. It is based on residual generation using a parity equationsspace approach. Analytical redundancy concepts fault detection and. When the copy0 fails, copy1 will detect the fault by any of the fault detection mechanisms. Approaches to detect faults typically use a speci cation or signature, an anomaly model or redundancy as a reference to judge the behavior of an entity. This has resulted in designs for which the control systems are flightcritical. An aileron actuator is a key component of a flight control system fcs. Fault diagnosis, fault detection, fault isolation, analytical redundancy.
Fault location is the process of determining where a fault has occurred so that an appropriate recovery can be initiated. Pdf fault detection in high redundancy actuation using. Fault must be detected as soon as possible isolation errors. The failure detection and identification fdi process is viewed as consisting of two stages. In an error detecting code the occurrence of an error on. Pdf on redundancy and fault detection in sequential. System can experience random failures and still function. A fault that occurs and it is not detected detection time. Fault detection in high redundancy actuation using an interacting multiplemodel approach by jessica davies, hitoshi tsunashima, roger m. Nonlinear analytical redundancy for fault detection.
One such set is based upon the use of design redundancy to provide fault tolerance during operation and to aid testing during development the most general of these techniques, nversion programming and recovery blocks, have been the subjects of widespread study. Finally a framework of observer schemes for different kinds of fault detection and isolation is presented. Fault detection in high redundancy actuation using an. This work proposes a fault detection architecture for vehicle embedded sensors, allowing to deal with both system nonlinearity and environmental disturbances and degradations.
A fault detection and redundancy management system for a dual redundancy based network architecture in which the principal control components master units are configured and programmed to repetitively carry out intra and interunit performance tests as an a priori requirement for network command capability. Pdf analytical redundancy methods in fault detection and isolation. Data redundancy for the detection and tolerance of. Fault diagnosis in dynamic systems using analytical and. This chapter outlines the fundamental concepts of fault detection and diagnosis using analytical redundancy. Sensor fault detection and isolation sfdi algorithmic strategies have been demonstrated to be a possible alternative to hardware redundancy, i. On redundancy and fault detection in sequential circuits. It outlines the principles and most important techniques of modelbased residual generation using parameter identification and state estimation methods with emphasis upon the latest attempts to achieve robustness.
Intelligent vehicle embedded sensors fault detection and isolation using analytical redundancy and nonlinear transformations. Evaluation of analytical redundancy for fault diagnosis in dynamic. The best known residual generation methods in model based fault detection and isolation, including parity equations, diagnostic observers and kalman filtering. Productivity of the automatic system can degrade because changes can impose performance limitations on the system and may also require frequent. However, mpm and process disturbances almost always exist in practical systems. A model dependent fault detection scheme may not be useful under considerable mpm and process disturbances. The third fault detection method is based on multilinear models represented by parameter tensors with elements computed by subspace parameter identification algorithms and data for different but structured operating regimes. Introduction changes faults can make the system unsafe and less reliable. This model uses the same fault detection control logic as the avionics subsystem of the aerospace blockset example hl20 project with optional flightgear interface aerospace blockset.
Analytical redundancy and fuzzy inference in auv fault detection and compensation 5a. Abstracta fault detection and identification architecture is presented using analytical redundancy in order to detect faulty. Fault detection and isolation the resulting analytical redundancy relations arrs obtained by applying the approach are then considered in this chapter. A current and voltage sensor fault detection and isolation algorithm based on dynamic redundancy equations and the parity space approach for electric motor dive systems is proposed in 19. Fault detection and identification for proprioceptive.
Also, the effects of faults on the diagnostic residuals are maximised. Fault avoidance and tolerance technique fault tolerance. Fault detection is the process of recognizing that a fault has occurred. Pdf on jan 1, 1992, gertler jj and others published analytical redundancy methods in fault detection and isolation find, read and cite all the research you. Fault detection fault detection determines the occurrence of fault in the monitored system. Fault tolerance and recovery 4 sources of faults which can. This paper investigates the fault detection and isolation technique in measurement datasets from a threetank system using analytical modelbased temporal redundancy. Redundancies increase the chip area, the power consumption, and often propagation delays in the circuit and might even reduce the yield 5. Quadruple adaptive redundancy with fault detection estimator dohyeung kim1 and richard voyles2 abstractas a result of advances in technology, systems have grown more and more complex, leading to greater opportunities for failure. Fault containment is the process of isolating a fault and. Fault detection and isolation, analytical redundancy, spectral analysis.
Diagnosis based on parameter estimation in drilling was the topic in 7, 8, while this paper presents a fault detection and isolation fdi method based on residuals generated using analytical redundancy relations arr, see, e. For the detection, localization, and estimation of small sensor failures like biases or drifts a fault supervision method is presented that is based on the analytical redundancy between different measurements, given in form of a mathematical model of the process to be controlled. Analytical redundancy implies the use of mathematical relations to obtain the redundant. Redundant faults in digital circuits not only result in extra hardware but also mask other faults and may also make undetectable fault detectable. The use of mechanical redundancy for fault detection in nonstationary machinery by mohamed h. These studies can be classified into modelbased and datadriven methods.
As mentioned by isermann 2, this consists of the detection of faults of processes, actuators and sensors by using dependences, expressed by mathematical process models, between different measurable signals. Fault detection and isolation for redundant inertial. Fault detection and isolation, analytical redundancy, statistical signal processing. Performing organization names and addresses naval postgraduate school,center for auv.
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