Modeling of Fault

EE-612: Fault Diagnosis and Tolerance
Dr. Abdul Qayyum Khan
Room No. SE-302

Department of Electrical Engineering,
Pakistan Institute of Engineering and Applied Sciences,
P.O. Nilore Islamabad Pakistan
Email: aqkhan@pieas.edu.pk
http://www.pieas.edu.pk/aqayyum/
February 16, 2017
A. Q. Khan (DEE,PIEAS) EE-612: Fault Diagnosis and Tolerance February 16, 2017 1 / 23
Outline
1 Modeling of Processes and Faults
Process Disturbance Modeling and Noises
Frequency domain
y (s ) = Gyu (s )u(s )
y Rm : output vector
u Rku : input vector
Frequency domain
y (s ) = Gyu (s )u(s ) + Gyd d (s ) + Gy (s )
d Rkd : deterministic disturbance vector
Rk : stochastic disturbance vector
Frequency domain
State space
x = Ax + Bu
y = Cx + Du
x Rn : is the state vector, d is deterministic process disturbances

and Rk , Rk stochastic disturbance vector
Frequency domain
State space
x = Ax + Bu + Ed d +
y = Cx + Du + Fd d +
x Rn : is the state vector, d is deterministic process disturbances

and Rk , Rk stochastic disturbance vector
Modeling uncertainties
sources of uncertainty
parameters are not exactly known
variation in operating conditions
limited resolution
high frequency behavior
model simplification
Modeling uncertainties
sources of uncertainty
parameters are not exactly known
variation in operating conditions
limited resolution
high frequency behavior
model simplification
Process with uncertainties
x + Bu
x = A +E
d d
+ Du
y = Cx +Fd d
= A + A , B
A = B + B ,
Uncertainties Description
Norm Bounded
" # " #
A B E E h i
= (t ) G H J
C D F F
Norm Bounded
" # " #
A B E E h i
= (t ) G H J
C D F F

(t )
Norm Bounded
" # " #
A B E E h i
= (t ) G H J
C D F F

(t )
Polytopic uncertainty
" #
A B E
C D F
(" # " # " #)
A1 B1 E1 A2 B2 E2 Al Bl El
= Co , , ,
C1 D1 F1 C2 D2 F2 Cl Dl Fl
Norm Bounded
" # " #
A B E E h i
= (t ) G H J
C D F F

(t )
Polytopic uncertainty
" #
A B E
C D F
(" # " # " #)
A1 B1 E1 A2 B2 E2 Al Bl El
= Co , , ,
C1 D1 F1 C2 D2 F2 Cl Dl Fl
Ai , Bi , Ci , known matrices
Co {} Convex Set
Polytopic Uncertainty
Convex Set: A set C is convex if the line joining any two points c1
and c2 in C remains entirely in C.
c1
c2
convex set nonconvex set
c1
c2
Given a set C (not necessarily convex) its convex hull is the smallest
convex set which contains C.
c1
c2
Given a set C (not necessarily convex) its convex hull is the smallest
convex set which contains C.
Convex Hull and convex function
The convex hull of a given set C may be defined as

The (unique) minimal convex set containing C
The intersection of all convex sets containing C
The set of all convex combinations of points in C
The union of all simplices with vertices in C
A convex function is a real-valued function defined on an interval with
the property that its epigraph (the set of points on or above the graph
of the function) is a convex set.
A polytope is the convex hull of a finite set of points

P = convex hull{p1 , p2 , , pN }
A vertex is a point that cannot be generated as the convex combination of
two distinct points
p2
p5
p4
p1 p3
p6
p6
p7
(i) Polytope generated by (j) Two 3-D polytopes

vertices p1 , p2 , p5 , p6 , p7
Every point p in a polytope P can be generated as the convex combination

of the vertices of P
N
X N
X
p= pi i , i = 1, i 0
i =1 i =1
(" # " # " #)

A1 B1 E1 A2 B2 E2 A B E
Co , , ,
C1 D1 F1 C2 D2 F2 C D F
" #
X Ai Bi Ei
= i ,
Ci Di Fi
i =1

X
i = 1, i 0, i = 1, ,
i =1
Stochastic Uncertainty
" # " #
A B E X Ai Bi Ei
= pi (k )
C D F Ci Di Fi
i =1
Stochastic Uncertainty
" # " #
A B E X Ai Bi Ei
= pi (k )
C D F Ci Di Fi
i =1
p1 (k )

.
p (k ) = ..

p (k )
p (k ) is stochastic process
E [p (k )] = 0, E [p (k )p T (k )] = diag (1 , , )
Types of Faults
Types of faults based on their source

Types of faults based on their time-domain behavior
Types of faults with regards to process models
Types of Faults


Actuator faults
Sensor faults
Component faults
Types of Faults

Actuator Faults
More consumption of energy or total loss of control
Example: Stuck up of control valve, faults in pumps, motors, etc.
Types of Faults

Actuator Faults
(k) floating around (l) lock in place

trim
(m) hard-over failure (n) loss of

effectiveness
Types of Faults

Sensor Faults
Sensor measurements are used in feedback, result into change in
operating point
Examples: drift, bias, freezing of sensor, calibration error
Types of Faults

Sensor Faults
(o) bias (p) drift
(q) loss of (r) freezing (s) calibrating

accuracy error
Types of Faults

Component Faults
Alter the physical parameter of plant
Due to wear and tear
Examples: leakage, cracks, change in friction,
Dynamic properties are changed, instability
Most important to be detected
Types of Faults

Types of faults based on time-domain behavior
(t) Abrupt fault (u) Incipient fault
(v) Intermittent fault

Types of Faults


Additive faults
Multiplicative faults
Modeling of Faults
Frequency domain
y (s ) = Gyu (s )u(s )+Gyd d (s ) + Gy (s )+Gyf f (s )
f Rkd vector of faults
Modeling of Faults
Frequency domain

State space
x = Ax + Bu+Ed d +Ef f
y = Cx + Du+Fd d +Ff f
Modeling of Faults
Frequency domain

State space
x = Ax + Bu+Ed d +Ef f
y = Cx + Du+Fd d +Ff f
Ef and Ff depend upon the location of faults
Modeling of Faults Contd.
Sensor faults, Ff = I
y = Cx + du + Fd d + fs
Sensor faults, Ff = I
y = Cx + du + Fd d + fs
Actuator fault, Ef = B , Ff = D
x = Ax + B (u + fA ) + Ed d
y = Cx + D (u + fA ) + Fd d
Changes in signals are modeled additive faults

Changes in parameters are modeled as multiplicative faults
Representation as multiplicative faults
+ AF ) x + ( B
x = (A + BF )u + Ed d
y = (C + CF )x + (D + DF )u + Fd d
A
X B
X
AF = Ai Ai , BF = Bi Bi
i =1 i =1
C
X D
X
CF = Ci Ci , DF = Di Di ,
i =1 i =1
Can be transformed into additive faults
qM = GF x + HF u,
fM = F (t )qM
Inn 0

. .
.. ..

I 0
GF = nn

, HF =
0 Iku ku
. .
.. ..

0 Iku ku

A1 Inn
..

.

AA Inn
F (t ) =
B1 Iku ku
..

.

BB Iku ku
h i
EP = A1 AA B1 BB ,
h i
FP = C1 CC D1 DD
x + Bu
x = A + Ed d + EP fM
+ Du
y = Cx + Fd d + FP fM
Effects stability, additive representation does not give this information
Sensor faults, actuator faults, component faults

fA B D
f = fP , Ef = EP , Ff = FP

fs I

0
Examples
Example (Three Tanks System)
Examples
Mass balance equations
accumulation = input output
Fluid flow through a sharp-edged hole
Examples
Ac h 1 = Q1 Q13
Ac h 2 = Q2 + Q32 Q20
Ac h 3 = Q13 Q32
p
Q13 =a1 s13 sgn(h1 h3 ) 2g |h1 h3 |
p
Q32 =a3 s23 sgn(h3 h2 ) 2g |h3 h2 |
p
Q20 =a2 s0 2gh2
Examples
Linearized Model
x =Ax + Bu
y =Cx
Operating point h1 = 45cm, h2 = 30cm, h3 = 15cm
Examples
Linearized Model
x =Ax + Bu
y =Cx
Operating point h1 = 45cm, h2 = 30cm, h3 = 15cm

h1 " #
Q
x = y = h2 , u = 1

Q2
h3

0.0085 0 0.0085
0.0065 0

A = 0 0.00195 0.0084 , B = 0 0.0065 C = I3

0.0085 0.0084 0.0169 0 0
Examples
Model Uncertainty caused by linearization
x =(A + A )x + Bu
y =Cx
A = (t )H

0.0085 0 0.0085

H = 0 0.00195 0.0084

0.0085 0.0084 0.0169
1 (t )

0 0

(t ) = 0 2 ( t ) 0

3 ( t )

0 0

(t )) 1.3620

Examples
Component faults,
Leaks in tanks p p p
A1 2gh1 , A2 2gh2 , A3 2gh3
Pluggings between two tanks
p
A4 a1 s13 sgn(h1 h3 ) 2g |h1 h3 |
p
A5 a3 s23 sgn(h3 h2 ) 2g |h3 h2 |
p
A6 a2 s0 2gh2
Sensor Faults, three additive faults in three sensors, f1 , f2 , f3
Actuator Faults, faults in pumps, f4 , f5
Examples
x =(A + AF )x + Bu + Ef f
y =Cx + Ff f
6
X h iT
AF = Ai Ai , f = f1 f6
i =1

0.0214 0 0 0 0 0

A1 = 0 0 0 , A2 = 0 0.0371 0 ,

0 0 0 0 0 0

0 0 0 0.0082 0 0.0085
A3 = 0 0 0 , A4 = 0 0 0

0 0 0.0262 0.0085 0 0.0085
Examples

0 0 0
0 0 0
A5 = 0 0.0111 0 , A6 = 0 0.0084 0.0084 ,

0 0 0 0 0.0084 0.0084
h i h i
Ef = 0 B , Ff = I33 0
Assignment
Assignment
1 Obtain the mathematical modeling and fault representation for the
Coupled Liquid Tanks System in DEE
2 Excercise 3.4 in M. Blanke, M. Kinnaert, J. Lunze, and
M. Staroswiecki, Diagnosis and fault-tolerant control. Springer, 2006
To be submitted on February 24, 2017
Further Readings
A. Q. Khan, Observer-based fault detection in nonlinear systems.

PhD thesis, University of Duisburg-Essen, Duisburg, Germany,
December 2010, Chapter 3
S. X. Ding, Model-based fault diagnosis techniques - design
schemes, algorithms and tools. Springer, 2008, Chapter 3
R. Isermann, Fault-diagnosis systems: an introduction form fault
detection to fault tolerance. Springer, 2006, Chapter 5
References I
M. Blanke, M. Kinnaert, J. Lunze, and M. Staroswiecki, Diagnosis and

fault-tolerant control.
Springer, 2006.
A. Q. Khan, Observer-based fault detection in nonlinear systems.
PhD thesis, University of Duisburg-Essen, Duisburg, Germany,
December 2010.
S. X. Ding, Model-based fault diagnosis techniques - design schemes,
algorithms and tools.
Springer, 2008.
R. Isermann, Fault-diagnosis systems: an introduction form fault
detection to fault tolerance.
Springer, 2006.

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EE-612: Fault Diagnosis and Tolerance

Dr. Abdul Qayyum Khan

Room No. SE-302

February 16, 2017

1 Modeling of Processes and Faults

y (s ) = Gyu (s )u(s ) + Gyd d (s ) + Gy (s )

y (s ) = Gyu (s )u(s ) + Gyd d (s ) + Gy (s )

x Rn : is the state vector, d is deterministic process disturbances

y (s ) = Gyu (s )u(s ) + Gyd d (s ) + Gy (s )

x Rn : is the state vector, d is deterministic process disturbances

convex set nonconvex set

convex set nonconvex set

convex set nonconvex set

The convex hull of a given set C may be defined as

A polytope is the convex hull of a finite set of points

(i) Polytope generated by (j) Two 3-D polytopes

Every point p in a polytope P can be generated as the convex combination

(" # " # " #)

Types of faults based on their source

Types of faults based on their source

Types of faults based on their source

Types of faults based on their source

Types of faults based on their source

(k) floating around (l) lock in place

(m) hard-over failure (n) loss of

Types of faults based on their source

Types of faults based on their source

(o) bias (p) drift

(q) loss of (r) freezing (s) calibrating

Types of faults based on their source

Types of faults based on their source

Types of faults based on time-domain behavior

(t) Abrupt fault (u) Incipient fault

(v) Intermittent fault

Types of faults based on their source

Types of faults with regards to process models

y (s ) = Gyu (s )u(s )+Gyd d (s ) + Gy (s )+Gyf f (s )

f Rkd vector of faults

y (s ) = Gyu (s )u(s )+Gyd d (s ) + Gy (s )+Gyf f (s )

f Rkd vector of faults

y (s ) = Gyu (s )u(s )+Gyd d (s ) + Gy (s )+Gyf f (s )

f Rkd vector of faults

Ef and Ff depend upon the location of faults

Changes in signals are modeled additive faults

Can be transformed into additive faults

Effects stability, additive representation does not give this information

Sensor faults, actuator faults, component faults

Mass balance equations

accumulation = input output

Fluid flow through a sharp-edged hole

Operating point h1 = 45cm, h2 = 30cm, h3 = 15cm

Operating point h1 = 45cm, h2 = 30cm, h3 = 15cm

Model Uncertainty caused by linearization

To be submitted on February 24, 2017

A. Q. Khan, Observer-based fault detection in nonlinear systems.

M. Blanke, M. Kinnaert, J. Lunze, and M. Staroswiecki, Diagnosis and

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