Hanane LOUAJRI, Moamar SAYED-MOUCHAWEH Decentralized Diagnosis of a Class of Hybrid Dynamic Systems: Application to the Three Cell Converter Hanane LOUAJRI, Moamar SAYED-MOUCHAWEH Computer Science and Automatic Control Lab Ecole des Mines de Douai, France 25 June, 2014 1

Plan Introduction System decomposition and modelling Decentralized hybrid diagnoser Experimentation and obtained results Conclusion 1 December 2018

Objectives and motivations Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Objectives and motivations Diagnosing of the hybrid dynamic systems In particular, power electronic systems discretely controlled continuous systems large scale systems Type of faults : parametric faults discrete faults Decentralized diagnosing of hybrid dynamic systems Taking benefit of the modularity of the system in order to overcome the diagnosis complexity of large scale systems Exploiting the continuous and discrete dynamics as well as the interactions between them 1 December 2018

Three Cell Converter Discrete controller E S2 S3 S1 R C2 C1 Vc2 Vc1 I Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Three Cell Converter E S2 S3 S1 R C2 C1 Vc2 Vc1 I OS3, CS3 OS2, CS2 OS1, CS1 L [Vc1, Vc2, I] Discrete controller 1 December 2018

Three cell converter faults Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Three cell converter faults Discrete faults: F1: S1 stuck opened F2: S1 stuck closed F3: S2 stuck opened F4: S2 stuck closed F5: S3 stuck opened F6: S3 stuck closed Parametric faults: F7: F8: 1 December 2018

Proposed approach DD2 Local diagnosis decision DD1 DD3 Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Proposed approach Hybrid dynamic system HDS Hybrid component HC1 Hybrid component HC3 Hybrid component HC2 Local hybrid diagnoser D1 Local hybrid diagnoser D2 Local hybrid diagnoser D3 Coordinator Interactions Decomposition Local diagnosis decision DD1 DD2 DD3 Global diagnosis decision DD Local hybrid model A1 Local hybrid model A2 Local hybrid model A3 1 December 2018

Discrete components modling Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Discrete components modling CS1 OS1 S1_stuck_open S1_stuck_close OS1

Continuous components modling and residuals generation Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Continuous components modling and residuals generation Normal Faults fault Normal transition 1 December 2018

Hybrid denamic residuals generation Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Hybrid denamic residuals generation Proper dynamics of Cci Interaction between Dcj and Ccm and Cci Interaction between Dcj and Cci Interaction between Ccm and Cci Interaction between Dcj and Ccm and Cci Interaction between Ccm and Cci Interaction between Dcj and Cci Proper dynamics of Cci 1 December 2018

Hybrid denamic residuals generation Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Hybrid denamic residuals generation 1 December 2018

Discrete controller [Vc1, Vc2, I] OS2, OS3, OS1, CS3 CS2 CS1 S3 S2 S1 Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser [Vc1, Vc2, I] Discrete controller OS3, CS3 OS2, CS2 OS1, CS1 S3 S2 S1 L C2 C1 R I E Vc1 Vc2 HC2 HC1 HC3 1 December 2018

Hybrid components modling Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Hybrid components modling State index 1 December 2018

Hybrid components modling Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Hybrid components modling OS1 CS1 S1_stuck_close S1_stuck_open 1 December 2018

Tasks of the decentralized hybrid deiagnoser Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Tasks of the decentralized hybrid deiagnoser Detecting and localizing the discrete faults affecting the corresponding hybrid component Detecting parametric faults affecting the corresponding hybrid component , determining their amplitude and following their progress 1 December 2018

Fault signatures construction Introduction Experimentation and obtained results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Fault signatures construction Continuous symbols (CS): 1 December 2018

Fault signatures construction Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Fault signatures construction Discrete symbols (DS): 1 December 2018

Fault signatures construction Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Fault signatures construction Global fault signature: Local fault signature: 1 December 2018

Equivalence between global and local fault signatures Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Equivalence between global and local fault signatures 1 December 2018

Global residuals calculation Global signature construction Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Central point Discrete controller K Central point Global residuals calculation Global signature construction HDS 1 December 2018

Decentralized hybrid diagnoser construction Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Decentralized hybrid diagnoser construction Initial state of model , states reached by the occurrence of unobservable events states that are reached from any state of , through either the same control command event or the same fault signature The transition function: Model states: Model states: 1 December 2018

System decomposition and modelling Conclusion Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 Initial state of model , states reached by the occurrence of unobservable events OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

System decomposition and modelling Conclusion Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 Initial state of model , states reached by the occurrence of unobservable events OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

System decomposition and modelling Conclusion Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 The nominal evolution corespendant to nominal evolution of this state OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

System decomposition and modelling Conclusion Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 And the label englob the set of the label of the selecte state OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

System decomposition and modelling Conclusion Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser CS1 CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 After the occurrence of the controlled trnsition OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 1 December 2018 MED-2014 CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 OS1 CS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 So the second state englob the set of state reach from the state of z1 due to yhe occurrence of the controlled event CS1 OS1 CS1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 OS1 CS1 And the state rech from the select state du the occurrence of an observibel event OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 OS1 CS1 The sst tz q4 generate a faumt signature that allow to diagnose with certainty the occurencee of fault F1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 CS1 OS1 CS1 OS1 OS1 CS1 CS1 OS1 CS1 S1_stuck_open S1_stuck_close OS1 OS1 CS1 The sst tz q4 generate a faumt signature that allow to diagnose with certainty the occurencee of fault F1 OS1 CS1 OS1 CS1 1 December 2018 MED-2014

CS1 OS1 1 December 2018 MED-2014

Coordinator construction Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Coordinator construction Cases Local diagnoser D1 Local diagnoser D2 Local diagnoser D3 Global decision 1 N1 N2 N3 N 2 F1 N2 or Nothing N3 or Nothing 3 N1 or Nothing F2 4 F1 or F2 5 F3 F1 or F3 6 F2 or F3 7 F1orF2 or F3 8 Nothing The global decisionn is calculated by margin the set of local deci 1 December 2018 MED-2014

Experimentation and obtained results: Normal operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Normal operating mode Vc1has a periodic signal corresponding to load and unload of capacitor (respectively ) around the mean value (respectively and that the current remains constant in the region of its reference value (0.15A). 1 December 2018

Experimentation and obtained results: Faulty operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Faulty operating mode The test scenario is generated as follows 1 December 2018

Experimentation and obtained results: Faulty operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Faulty operating mode (respectively ) has lost the periodic aspects in the case of fault and that the current has become nonconstant in the region of its reference value. 1 December 2018

Experimentation and obtained results: Faulty operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Faulty operating mode 1 December 2018

Experimentation and obtained results: Faulty operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Faulty operating mode 1 December 2018

Experimentation and obtained results: Faulty operating mode Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Experimentation and obtained results: Faulty operating mode 1 December 2018

Conclusion and perspectives Introduction Simulation results System decomposition and modelling Conclusion Decentralized hybrid diagnoser Conclusion and perspectives Works in progress Application of the proposed decentralized diagnosis hybrid dynamic systems using noisy signals (input and process) Perspectives Using real three cell converter Diagnosing the multiple faults Expanding the class of considered hybrid dynamic systems Achieving the prognostics of drift-like faults 1 December 2018