Thomas Steffen

Control Reconfiguration of Dynamical Systems

Linear Approaches and Structural Tests

4y Springer

Contents

Introduction to Control Reconfiguration 1.1 1.2 1.3 1.4 1.5 1.6 Fault-Tolerant Control Fault Detection ,.. Control Reconfiguration Reconfiguration Goal Aim of this Manuscript Structure of the Manuscript

1 1 2 3 5 5 6 9 9 10 11 12 14

Literature Overview 2.1 Fault-Tolerant Control 2.2 Specific Reconfiguration Approaches 2.3 General Reconfiguration Approaches 2.4 Alternatives to Reconfiguration 2.5 Advanced Control Theory

Part I. 3

Reconfiguration Problem 17 17 18 19 20 21

Running Example: the 2-Tank System 3.1 Nonlinear Model 3.2 Linear Model 3.3 Controller 3.4 Faults 3.5 Analysis

X 4

Contents General Reconfiguration Problem 4.1 Overview 4.2 Modelling the System and the Fault 4.3 Control Loop 4.4 Reconfiguration Block 4.5 Reconfiguration Goals 4.6 2-Tank Example 25 25 25 28 31 33 38 41 41 42 45 47 50

Linear Reconfiguration Problem 5.1 Nominal Control Loop 5.2 Fault and Reconfiguration 5.3 Reconfiguration Goals 5.4 Specific Faults 5.5 2-Tank Example

Part II. Linear Solution Approaches 6 Direct Reconfiguration Using a Static Block 6.1 Direct Reconfiguration After Actuator Faults 6.2 Solvability Consideration 6.3 Derivation of a Static Reconfiguration Block 6.4 Reconfiguration Algorithm 6.5 Analysis 6.6 Application to the 2-Tank Example 6.7 Pseudo-Inverse Method 6.8 Reconfiguration After Sensor Faults 6.9 Conclusion 55 55 56 57 59 60 62 63 66 67

Contents 7 Reconfiguration Using a Virtual Sensor 7.1 Stabilising Reconfiguration After Sensor Faults 7.2 Solvability Consideration 7.3 Derivation of the Virtual Sensor 7.4 Reconfiguration Algorithm 7.5 Analysis of the Virtual Sensor 7.6 Application to the 2-Tank Example 7.7 Conclusion 8 Reconfiguration Using a Virtual Actuator 8.1 Stabilising Reconfiguration After Actuator Faults 8.2 Solvability Consideration 8.3 Derivation of the Virtual Actuator 8.4 Reconfiguration Algorithm 8.5 Analysis of the Reconfigured Closed-Loop System 8.6 Application to the 2-Tank Example 8.7 Duality of Virtual Sensor and Actuator 8.8 Reconfiguration After Internal Faults 8.9 Conclusion 9 Reconfiguration with Set-Point Tracking 9.1 Weak Reconfiguration After Actuator Faults 9.2 Solvability Consideration 9.3 Approach 1: Zero Placement 9.4 Approach 2: Integrating Controller 9.5 Analysis and Comparison 9.6 Application to the 2-Tank Example 9.7 Dual Approach For Sensor Faults 9.8 Conclusion ;.

XI 69 69 70 71 74 75 78 79 81 81 82 83 88 89 92 96 98 101 103 103 104 105 110 112 114 116 117

XII

Contents 119 119 120 122 125 130 132 135 138 139

10 Reconfiguration by Disturbance Decoupling 10.1 Strong Reconfiguration After Actuator Faults 10.2 Solvability Condition 10.3 Interpretation as a Disturbance Decoupling Problem 10.4 Geometric Approach 10.5 Reconfiguration Algorithm 10.6 Analysis of Reconfigured System 10.7 Application to the 2-Tank Example 10.8 Dual Approach for Sensor Faults 10.9 Conclusion Part III. Structural Tests for Control Reconfiguration 11 Structural Models 11.1 Introduction to Structural Models 11.2 Structural Matrices 11.3 Structural Digraphs 11.4 Paths in a Structural Graph 11.5 Digraphs and Matrix Models 11.6 Weighted Digraphs 11.7 Bi-partite Graphs 11.8 Structure of Non-Linear Systems 11.9 Diagnosis Based on Structural Graphs 12 Basic Structural Properties 12.1 Defining Structural Properties 12.2 s-Controllability and s-Observability 12.3 Stabilisability 12.4 Reduced Control Problem 12.5 Solvability of the Weak Reconfiguration Problem 12.6 Application to the 2-Tank Example

143 143 144 148 150 152 154 156 158 159 161 161 162 165 167 169 170

Contents

XIII

13 Solvability of Disturbance Decoupling 13.1 Disturbance Decoupling 13.2 Variants of the Disturbance Decoupling Problem 13.3 Disturbance Decoupling of the First Kind 13.4 Structural Rank of a System 13.5 Almost Disturbance Decoupling 13.6 Known-Disturbance Decoupling 13.7 Finding a Minimal Difference System 14 Structural Solutions to Disturbance Decoupling 14.1 Idea of the Iterative Algorithm 14.2 Algorithm for Single-Variable Decoupling 14.3 Structural Test 14.4 Matrix-Based Algorithm for Single-Variable Decoupling 14.5 Optimising the Matrix-Based Algorithm 14.6 Multi-variable Cancellation 14.7 Strong Structural Test 15 A Structural Reconfiguration Algorithm for Actuator Faults 15.1. Test for Reconfigurability 15.2 Reconfiguration After Actuator Faults 15.3 Reconfiguration in a Fault-Tolerant Control Scheme : 15.4 Conclusion Part IV. Application Examples 16 Reconfiguration of the 3-Tank System 16.1 Nominal 3-Tank System 16.2 Valve 2 Blocked Open 16.3 Valve 2 Blocked Closed 16.4 Pump 1 Blocked 16.5 Conclusion

173 173 174 177 178 181 183 184 189 189 190 193 194 198 199 201

205 205 207 210 211

215 215 220 223 224 227

XIV

Contents 229 229 233 236 239 242 243 243 244

17 Reconfiguration of a Helicopter Model 17.1 Helicopter Model 17.2 Fault in a Main Rotor 17.3 Fault in Both Main Rotors 17.4 Fault in the Lateral Rotors 17.5 Conclusion 18 Conclusion 18.1 Summary 18.2 Outlook

Part V. Glossary

Appendices 249 249 251 253 253 '.' 253 255 261

A.I Terms of Fault-Tolerant Control A.2 List of Important Symbols RECONF - A Toolbox for Reconfiguration B.I Overview B.2 MATLAB Functions B.3 Simulink Integration References