automatic control - model-based fault diagnosis in dynamic systems using identification...
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PlantInput
Sensors
Redundantsensors
FDImathematical
model
Diagnosticlogic
Diagnosticlogic
FaultalarmOutput
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PlantActuators Sensors
Plantmodel
Input
u(t)
Faults
Output
y(t)
Residualgenerator
Model-basedfault detection
Residualevaluation
Residualsr(t)
Fault alarm
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Process
Residualgeneration
Residualevaluation
Input Output
Measurements
Residuals
Fault information
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PlantActuators
Controller
Referencesignals
Input
sensors
Output
sensorsFDI system
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PlantActuatorsInput
sensors
Outputsensors
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Plant
Inputsensors
Outputsensors
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PlantActuators
Outputsensors
Inputsensors
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Inputs Outputs
Plant
Residuals
Plant+
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Residuals
Simulator oroutput estimator
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++
f(z)
u*(z)
System
y(z)
++
Residual generatorr(z)
H (z)u*
H (z)y
G(z)yu*
G (z)yf
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Parameterestimator
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Parameterestimation
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+
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+++
+
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+
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y
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t
tt z
z
z
z
z
zz
z
t
tt
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x x(t)+ u(t)(t+1) = A B
y x(t) = C (t)
u(t) y(t)
Delay line Delay line
WQ +
_ W
r(t)
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Plant
Pre-
Process
or
Fault
Model
1
NF
Classifier
Threshold
Evaluation
u
thu()
r1
y
Fault
Model
2
FaultModel
n
FF
Model
r0
r3
r2Fault
Indication
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Neuro-Fuzzy
Model
Online
parameter
estimation
Plant
y
y
r
u
+
-
-PhysicalParameters:
TCSG
S0
+
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Process
Residual
generation
Residual
evaluation
R1
R2
Rm
F1
M1
F2
M2
FnMp
**
** *
*
Measurements(Process variables)
Residuals Faults
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Plant
TSK Neuro-Fuzzybased Observer
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Compressor TurbineCombustor
Controller
u(t)
Inputs
y(t)
Outputs
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0 500 1000 1500 2000 2500
-2
0
2
4
6
0 500 1000 1500 2000 2500-0.2
-0.1
0
0.1
0.2
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Cb
aQ
Q d
6
Os
yR
Trs
Ts Pv
9
1 2
43
7
H.P. M.P. B.P.
8
,
5
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u(t)
Plant
Model
y(t)
+
+
+_
r(t)
Output sensors
Residuals
y(t)^
Input sensors
f (t)y
f (t)u
++
u*(t) y*(t)
-
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0 20 40 60 80
40
45
50
55
60
65
0 20 40 60 80
0
0.05
0.1
0.15
0.2
0.25
-
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System
+u(t)u(t)~
Input sensors
Actuators
Controller
Output sensorsy(t)y(t)~
f (t)
f (t)
+
*
f (t)s
*
y
f (t)u
c
u*(t) y*(t)
-
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Combustor Turbine
av ff
Controller
ff Nt
f (t)s
Compressor
u(t)
y(t)
Compressor
Observer
+ -
-
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Time (s)
f (t)c
x 10-6
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Turbine
Observer
+ -
0 10 20 30 40 50 60 70 80 900
100
200
300
400
500
600
t3
n
(t)
3
-
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Time (s)
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0 10 20 30 40 50 60 70 80 90
0
0.1
0.2
0.3
0.4
0.5
0.6
-
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0 20 40 60 80
0
2
4
6
8
x 10-4
-
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Turbine
Observer
+ -
-
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Controller
Turbine
Compressor
Observer
+ -
-
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0 20 40 60 801
2
3
4
5
6
7
8
910
11x 10
5
0 20 40 60 80-4
-3
-2
-1
0
1x 10
-5
-
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0 20 40 60 80
-1
1
3
5
7x 10
-4
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y(t)
y(t)^ r(t)
u(t)System
Observer
Adaptiveparameterestimator
B(t)
+_
x(t)A(t)^ ^ ^
-
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System
f (t)s
Residualgenerator
f (t)u f (t)y
u(t) y(t)
+++ +
Inputs Outputs
Faultidentification
f (t)s^
,f (t)u f (t)y,^^
-
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