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Robotics Automation and Control 2011 Part 8

Tham khảo tài liệu 'robotics automation and control 2011 part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Fault Detection Algorithm Based on Filters Bank Derived from Wavelet Packets 201 plant provided by the Eastman Company. The process results in final products G and H from four reactants A C D and E. The plant has 7 operating modes 41 measured variables and 12 manipulated variables. There are also 20 disturbances IDV1 through IDV20 that could be simulated Downs Vogel 1993 Singhal 2000 . The sampling period for measurements is 60 seconds. The TECP offers numerous opportunities for control and fault detection and isolation studies. In this work we use a robust adaptive multivariable 4 inputs and 4 outputs RTRL neural networks controller Leclercq et al. 2005 Zerkaoui et al 2007 to regulate the temperature Y1 and pressure Y2 in reactor and the levels in separator Y3 and stripper Y4 . For this purpose the controller drives the purge valve U1 the stripper input valve U2 the condenser CW valve U3 and reactor CW valve U4 . The controller is presented in figure 20 full lines represent measurements and dashed line represent actuators updating . This controller compensates all perturbations IDV1 to IDV 20 excepted IDV1 IDV6 and IDV7. Particularly the controller is robust for perturbation IDV16 that will be used in the following. Fig. 20. Tennessee Eastman Challenge Process and robust adaptive neural networks controller Leclercq et al. 2005 Zerkaoui et al 2007 . 202 Robotics Automation and Control The figure 21 illustrates the advantage of our method to detect changes for real world FDI applications. Measurements of the stripper level figure 21 a are decomposed into 3 components by using filters bank derived from the Haar wavelet packet. From time tr 600 hours the perturbation IDV16 that corresponds to a random variation of the A B C composition modifies the dynamical behavior of the system. The detection functions applied on the 3 components figure 21 f g h can be compared with the detection function applied directly on measurement of pressure figure 21 b . After fusion the .