FP8-1: Fault Detection and Diagnosis in Dynamic Systems
Aalborg University Esbjerg
Instructor
Youmin Zhang
Department of Computer Science and Engineering
Aalborg University Esbjerg
Niels Bohrs Vej 8
6700 Esbjerg, Denmark
Phone: (+45) 7912 7741 Fax:
(+45) 7912 7710
Email: ymzhang@cs.aaue.dk Homepage: http://www.cs.aue.auc.dk/~ymzhang/
Time and Location
- Lectures: Tuesdays, 8:15-11:40am, Room B201.
Course Description
Course Materials
- Recommended textbooks
- [CP99] Jie Chen and Ron J. Patton, Robust Model-Based Fault Diagnosis for Dynamic Systems, Kluwer Academic Publishers, January 1, 1999, ISBN: 0-7923-8411-3.
- [SFP03] Silvio Simani, Cesare Fantuzzi, Ron J. Patton, Model-based Fault Diagnosis in Dynamic Systems Using Identification Techniques, Springer-Verlag, January 17, 2003, ISBN: 1-85233-685-4.
- Optional textbooks /
references
- [Ge98] Janos Gertler, Fault Detection and Diagnosis in Engineering Systems, Marcel Dekker, New York, May 1, 1998, ISBN: 0-8247-9427-3.
- [CRB01] L. H. Chiang, E. L. Russell, R. D. Braatz, Fault Detection and Diagnosis in Industrial Systems, Springer-Verlag, February 15, 2001, ISBN: 1-85233-327-8.
- [HC03] Chingiz Hajiyev and Fikret Caliskan, Fault Diagnosis and Reconfiguration in Flight Control Systems, Kluwer Academic Publishers, October 2003, ISBN 1-4020-7605-3.
- [BKLS03] Mogens Blanke, Michel Kinnaert, Jan Lunze, Marcel Staroswiecki, Diagnosis and Fault-Tolerant Control, Springer-Verlag, August 1, 2003, ISBN: 3540010564.
- [MJZ03] Mufeed Mahmoud, Jin Jiang, Youmin Zhang, Active Fault Tolerant Control Systems: Stochastic Analysis and Synthesis, Springer-Verlag, May 1, 2003, ISBN: 3540003185.
- Early books (prior to
1990) on fault detection and diagnosis
- D. M. Himmelblau, Fault Detection and Diagnosis in Chemical and Petrochemical Processes, Elsevier, Amsterdam, Netherlands, 1978.
- L. F. Pau, Failure Diagnosis and Performance Monitoring, Marcel Dekker, Inc., New York, NY, 1981.
- M. Basseville and A. Benveniste, Detection of Abrupt Changes in Signals and Dynamical Systems, Lecture Notes in Control and Information Sciences, Vol. 77, Springer, Berlin, 1986.
- R. J. Patton, P. M. Frank, and R. N. Clark, Fault Diagnosis in Dynamic Systems: Theory and Applications, Prentice-Hall, Englewood Cliffs, NJ, 1989.
Communication
- Course web site: http://www.cs.aue.auc.dk/~ymzhang/courses/FDD/index.html. Check it out regularly for lecture notes, schedule changes, and other course-related announcements.
- Emails may also be used for announcement, and posting questions and answers.
Tentative Schedules
|
Date/Location |
Lecture Topics |
Slides |
|
Exercises |
|
Tues. 8/2 |
General
introduction to FDD issue · What is FDD? ·
Procedures and approaches in FDD The role in fault-tolerant control systems
|
Books
– Chapter 1 in Jie
Chen and Ron J. Patton (CP99), – Chapter 1 in Silvio
Simani, Cesare Fantuzzi, Ron J. Patton
(SFP03), Papers
– R. Isermann, Supervision,
fault-detection and fault-diagnosis methods - an introduction, Control
Engineering Practice, 5(5): 639-652, 1997. – R. Isermann and P. Ballé, Trends in the application of
model-based fault detection and diagnosis of technical processes, Control
Engineering Practice, 5(5): 709-719, 1997. |
|
|
|
Tues. 15/2 B201 |
Fault
representations in system models Fault types and classification Modeling of faulty systems
|
Books
– CP99: Sections
2.1-2.7, or – SFP03: Sections 2-1-2.3. Lecture
Notes – Youmin Zhang, Faults and fault
modeling in active FTCS, 2005 Papers
– R. Isermann, Supervision, fault-detection
and fault-diagnosis methods - an introduction, Control Engineering
Practice, 5(5): 639-652, 1997. Further
readings and review on general theory of observers – Lecture slides in FP7-4: Lecture
Notes #4 by Youmin Zhang – Lecture notes: Practical
Approach to Reliability, Safety, and Fault-tolerance, by R.
Izadi-Zamanabadi (AAU). |
|
|
|
Tues. 22/2 B201 |
Residual generation approaches (1) – state estimation based methods
Observer-based approaches
|
Books
– CP99: Section 2.8, 2.11,
or – SFP03: Sections 2.4-2.7;
4.1-4.4. Papers
– R. Isermann, Supervision, fault-detection
and fault-diagnosis methods - an introduction, Control Engineering
Practice, 5(5): 639-652, 1997. – P. M. Frank and X. Ding, Survey of
robust residual generating and evaluation methods in observer-based fault
detection systems, J. of Process Control, 7(6): 403-424, 1997. Further
readings and review on general theory of observers - K. Ogata, Modern Control
Engineering, 3rd ed, Prentice-Hall, 1997. (Sections
12.5-12.6), or - HC03: Chapter 2. |
Questions (PDF) |
|
|
Tues. 8/3 B204 (re-scheduled) |
Residual generation approaches (2) – state estimation based methods Kalman filter-based approaches
|
Books
– CP99: Section 2.10 (pp.
46-47) Papers
– R. K. Mehra and J. Peschon, An
innovations approach to fault detection and diagnosis in dynamic systems, Automatica,
7:637-640, 1971. – Y. M. Zhang and X. R. Li, Detection and diagnosis of
sensor and actuator failures using IMM estimator, IEEE Trans.
Aerospace and Electronic Systems, 34(4):1293-1313, Oct. 1998. |
Questions (PDF) |
|
|
Tues. 15/3 B201 |
Residual generation approaches (3) – parameter estimation based methods Principle and procedure of parameter estimation based methods Least-squares based methods
|
|
Papers
Parameter estimation methods for
FDD – R. Isermann (1984), Process Fault
Detection Based on Modeling and Estimation Methods - A Survey, Automatica,
20(4): 387-404. Further readings
and review on LS, RLS, and VLSWBLS –
on
LS, RLS, and VLSWBLS: Lecture slides in F7-1 (System Identification): Lecture Notes #2-#5, given by Y. M. Zhang |
Questions (PDF) |
|
Tues. 22/3 B201 |
Residual generation approaches (4) –simultaneous parameter and state estimation methods Extended Kalman filter methods
Two-stage Kalman filter methods
|
Papers
The two-stage Kalman filter (TSKF)
approach for FDD – N. E. Wu, Y. M. Zhang and K. Zhou (2000), Detection,
Estimation, and Accommodation of Loss of Control Effectiveness, International Journal of Adaptive Control
and Signal Processing, 14(7): 775-795. – Y. M. Zhang and J. Jiang (2002), An
Active Fault-Tolerant Control System against Partial Actuator Failures, IEE Proceedings – Control Theory and
Applications, 149(1): 95-104. (with reconfigurable controller included) Further readings
and review on EKF and TSKF – on EKF, TSKF: Lecture slides in FP8-4 (Estimation and Information Fusion): Lecture Notes #3, given by Y. M. Zhang |
Reading
as exercise |
|
|
Tues. 29/3 B201 |
Residual generation approaches (4) –simultaneous parameter and state estimation methods An adaptive two-stage extended Kalman filter method and application to an FDD benchmark Residual generation approaches (5) – parity space Parity space approaches |
Papers The two-stage extended Kalman filter (TSEKF) approach – Y. M. Zhang and N. E. Wu
(1999), Fault Diagnosis for a Ship
Propulsion Benchmark: Part I, In Proceedings of the IFAC 14th
Triennial World Congress, Beijing, P. R. China, July 5-9, 1999, pp.
569-574. The parity space (relation) approaches – E. Y. Chow and A. S. Willsky
(1984), Analytical Redundancy
and the Design of Robust Failure Detection Systems, IEEE Trans. on
Automatic Control, 29(7): 603-614. |
Reading as exercise |
|
|
Tues. 5/4 B201 |
Residual
evaluation (1) Simple voting techniques Statistical testing
approaches (I)
|
– Lecture slides are used as the reading material. –
R. K. Mehra and J. Peschon, An innovations approach to fault detection and
diagnosis in dynamic systems, Automatica, 7:637-640, 1971. |
Reading as exercise |
|
|
Tues. 12/4 B201 |
Residual evaluation (2) Statistical testing approaches (II) Robustness in FDI and unknown input observers (UIOs) for robust FDI |
Books
– CP99: Section 2.11 (pp.
48-51); Section 2.12 (pp. 51-54); Section 3.1-3.3 (pp. 65-87) Papers
– A. S. Willsky and H. L. Jones, A generalized likelihood
ratio approach to the detection and estimation of jumps in linear systems,
IEEE Trans. Automatic Control, 21:108--112, Feb. 1976. –
P. M. Frank, Analytical and qualitative model-based fault diagnosis - A survey
and some new results, European Journal of Control, 2(1): 6-28, 1996. – P. M. Frank and R. Seliger, Fault detection and isolation in automatic processes, in C. T. Leondes, editor, Control and Dynamic Systems, Vol. 49, Academic Press, New York, 1991, pp. 241-287. (read pp. 254-256; pp.267-270). |
1. Read the lecture slides and the relevant parts of the above-mentioned references as exercises. 2. Read
and try to reproduce the results using MATLAB implementation for the example shown
in the Section 3.3 (pp. 82-87) in book CP99. |
|
|
Tues. 19/4 B201 |
Practical aspects
of FDD Robustness in FDI
Applicability and comparison of methods FDD for
fault-tolerant control systems Course summary Summary Some special issues and future directions
|
Books
– CP99: Sections 3.1-3.3 (pp.
65-87); Sections 2.13-2.14 (pp. 54-63) Papers
–
R. Isermann and P.
Ballé, Trends in
the application of model-based fault detection and diagnosis of technical
processes, Control Engineering Practice, 5(5): 709-719, 1997. Additional reading on introduction to
fault-tolerant control sytems
– Lecture slides #7, given
in FP7-4 “Introduction to reliability and fault tolerance” |
1. Reading as exercise 2. Try to use the concepts and approaches covered in this course to your current and future projects. |
Other links
“Fault Detection and Automated
Systems” course homepage at AAU: see here
This homepage is created and maintained by Youmin Zhang.