Implementation of a real-time fault detection and correction of fault-tolerant redundant sensors system

• Main Authors: Yu Chih-Chia, 余志佳
• Other Authors: Tsung-Lin Chen
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/45650958068661641491

碩士 === 國立交通大學 === 工學院精密與自動化工程學程 === 100 === In a sensing system with redundant sensors,fault signal sensor was idenfied through the “voting equations”that was composed of relations of redundant sensors.However,while do sensors have noises,the former method will result in identifying inexactly ,nonreal-time estimation,and nonreal-time compensation.According to this issue,the thesis propose one method to solve this question and to reach real-time fault signal identification and correction.Then this algorithm design will take matlab program to stimulate and implement practical experiment to verify responsibility of this algorithm. We propose a progressive method that convert traditional fault identification method to observation nonlinear state estimation.That is,observation can observe every sensors’ fault signals then compensate these errors to reach real-time fault signal correction.To obtain this goal,we can design dynamic equations and output equations that is depicted redundant sensing system.We can scrutinize the observability of system to ensure fault signals that is estimated exactly .We create a state observer to observe fault signal.The state observer which is taken by ours is “kalman filter with fading memory”.After observer appraised the errors of sensors,we will take state feedback to correct fault signal of sensors.That is to say,we make corrected sensors which still can continue to operate in the sensing system. It is to raise output value precision and reliability of system. To simulate the matlab program,the algorithm of this thesis can evaluate instantaneously fault signals and compensate immediately.The point of this thesis design a realistic system to experiment and affirm this algorithm’s responsibility.To sum it up,we design a revolving mechanism of motor and place three accelerators(sensors) on it.The three accelaerators have been placed on different ratio radius(for example:1:1.5:2).Then we use microcontroller to detect accelerators’ A/D(analog to digital) datas. According normal component equation of curvilinear motion ( an=w^2*r),the three normal equations of curvilinear motion have restrainable relations among them. The three restrainable relations can obtain voting equations and then construct a redundant sensing system(observer).Finally,we collect accelerators’ A/D(analog to digital) datas friom microcontroller and take them to matlab program to validate whether the algorithm’s responsibility of this thesis.