Diagnostique de défaut à base de modèle et accommodation de défaut pour missions spatiales

258 Pages·2016·21.31 MB·French

by  Robert Fonod

Diagnostique de défaut à base de modèle et
accommodation de défaut pour missions spatiales
Robert Fonod
To cite this version:
Robert Fonod. Diagnostique de défaut à base de modèle et accommodation de défaut pour missions
spatiales. Physics [physics]. Université de Bordeaux, 2014. English. ￿NNT: 2014BORD0199￿. ￿tel-
01163681￿
HAL Id: tel-01163681
https://theses.hal.science/tel-01163681
Submitted on 15 Jun 2015
HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est
archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents
entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non,
lished or not. The documents may come from émanant des établissements d’enseignement et de
teaching and research institutions in France or recherche français ou étrangers, des laboratoires
abroad, or from public or private research centers. publics ou privés.
THÈSE
présentée pour obtenir le grade de
Docteur de l’Université de Bordeaux
ÉCOLE DOCTORALE DES SCIENCES PHYSIQUES ET DE L’INGENIEUR
SPÉCIALITÉ : Automatique, Productique, Signal et Image, Ingénierie
Cognitique
par
Robert FONOD
Model-based Fault Diagnosis and Fault
Accommodation for Space Missions
Application to the Rendezvous Phase of the MSR Mission
Présentée et soutenue publiquement le 19 Novembre 2014
Après avis de :
Prof. Mogens BLANKE Université Technique du Danemark, Copenhague
Prof. Didier THEILLIOL Université de Lorraine, CRAN, Nancy
Devant la commission d’examen formée de :
Prof. David HENRY Université de Bordeaux, IMS-CNRS, Bordeaux Direct. de thèse
Prof. Mogens BLANKE Université Technique du Danemark, Copenhague Rapporteur
Prof. Didier THEILLIOL Université de Lorraine, CRAN, Nancy Rapporteur
Prof. András EDELMAYER Académie Hongroise des Sciences, SZTAKI, Budapest Examinateur
Prof. Ali ZOLGHADRI Université de Bordeaux, IMS-CNRS, Bordeaux Examinateur
Dr. Samir BENNANI AgenceSpatialeEuropéenne,ESA/ESTEC,Noordwijk Examinateur
Dr. Damiana LOSA Thales Alenia Space, Cannes Examinateur
Dr. Eric BORNSCHLEGL Agence Spatiale Européenne (retraité) Examinateur
- 2014 -

THESIS
submitted in partial fulfillment of the requirements for the degree of
Doctor of Philosophy from University of
Bordeaux
DOCTORAL SCHOOL OF PHYSICAL SCIENCES AND ENGINEERING
SPECIALISM: Automatic, Production Engineering, Signal and Image Processing,
Cognitive Engineering
by
Robert FONOD
Model-based Fault Diagnosis and Fault
Accommodation for Space Missions
Application to the Rendezvous Phase of the MSR Mission
Presented and publicly defended the 19th of November 2014
After review by:
Prof. Mogens BLANKE Technical University of Denmark - DTU, Copenhagen
Prof. Didier THEILLIOL University of Lorraine, CRAN, Nancy
To the examining committee composed of:
Prof. David HENRY University of Bordeaux, IMS-CNRS, Bordeaux Thesis supervisor
Prof. Mogens BLANKE Technical University of Denmark - DTU, Copenhagen Reviewer
Prof. Didier THEILLIOL University of Lorraine, CRAN, Nancy Reviewer
Prof. András EDELMAYER Hungarian Academy of Sciences, SZTAKI, Budapest Examiner
Prof. Ali ZOLGHADRI University of Bordeaux, IMS-CNRS, Bordeaux Examiner
Dr. Samir BENNANI European Space Agency, ESA/ESTEC, Noordwijk Examiner
Dr. Damiana LOSA Thales Alenia Space, Cannes Examiner
Dr. Eric BORNSCHLEGL European Space Agency (retiree) Examiner
- 2014 -

“Inordertobearealistyoumustbelieveinmiracles.”
— David Ben-Gurion, first prime minister of Israel
“Do not follow the ideas of others, but learn to listen
to the voice within yourself.”
— Eihei D¯ogen, Zen master

Acknowledgements
I would like to thank the Guidance, Navigation and Control (GNC) section at the European
Space Research and Technology Centre (ESTEC) of the European Space Agency (ESA) and the
Research and Technology/Science and Observation within the R&D department (DRT/SO) at
Thales Alenia Space France (TAS-F) for providing the funding that made this research possible,
through the ESA’s Networking/Partnering Initiative (NPI) Program.
A quotation goes that “a journey is always easier when you travel together”, and we
really have travelled together! During my PhD study, I have been accompanied and supported
bymany. Itismygreatpleasuretotakethisopportunitytoexpressmysinceregratitudetoallof
them. First and foremost, I would like to thank my supervisor, Prof. D. Henry from University
of Bordeaux, for his continuous and generous support, patience, encouragement, understanding
and valuable time. By providing the right balance of suggestions and freedom, as well as the
wonderful discussions on all aspects of this work, he has made this work not just possible, but
more importantly, enjoyable! His excellent guidance and profound appreciation of the topic,
helped me in all phases of the research and writing of this thesis. It has been a honour and a
great pleasure to work with him, Merci David !
At ESTEC, my special thanks go to Dr. E. Bornschlegl for his hearty welcome and hospitality
during my six months stay in the Netherlands, proof-reading my papers, sharing his travel expe-
riences and giving me practical advices for life. I would also like to acknowledge Dr. S. Bennani
for being part of the examining committee and for his perceptive comments. Many thanks also
go to Dr. G. Ortega, Dr. A. Benoit and other members of ESA TEC-ECN/ECC, for their
support during my stay in ESTEC.
At TAS-F, I would first like to thank Dr. C. Charbonnel for welcoming me to DRT/SO and for
helpingmetodirectmyresearchfromindustrialaspects. ThanksgotoDr.D.Losaforhercareful
reading of the manuscript and for the many useful comments and suggestions which allowed
to improve the style of the manuscript. Special thanks also to my officemate Jonathan, for his
valuable inputs and constructive discussions. I would also like to thank them for their friendship
and assistance with all the issues and making my stay in Cannes an enjoyable one.
I have been fortunate to work two years in the pleasant atmosphere of the IMS (laboratoire de
l’Intégration du Matériau au Système) laboratory at the University of Bordeaux. Therefore, I
would like to thank all the members and staff of the lab for their support. Especially, Prof.
A. Zolghadri is acknowledged for letting me join his ARIA (Approche Robuste et Intégrée de
l’Automatique) research team, for the interactions during the whole period and invitations to
i
Acknowledgements
variousevents. IalsothankProf. Zolghadriforservingasthepresidentofthethesisexamination
committee and for his final quotation (“The dogmas of the quiet past, are inadequate to the
stormy present. The occasion is piled high with difficulty, and we must rise with the occasion.
As our case is new, so we must think anew and act anew. We must disenthrall ourselves, and
then we shall save our country.” — Abraham Lincoln), uttered after the the deliberation of my
doctoral degree.
I am also very grateful to Prof. M. Blanke from DTU and Prof. D. Theilliol from University
of Lorraine for their precious time to review my thesis, and for their insightful comments which
allowed to improve the quality of the final manuscript.
I must especially thank two men without whom I would have never started this adventure: Prof.
A. Edelmayer from Hungarian Academy of Sciences, who was the first to believe in my ability
to conduct this work, and Prof. D. Krokavec with whom I discovered my interest in research
while at the Technical University of Kosice. I also thank Prof. Krokavec for introducing me to
the wonderful world of fault diagnosis, for his lectures, constant support and keeping in touch
during my studies.
Thanks also goes to all my fellow colleagues at IMS lab (Valentin, Souad, Daniela, Alejandra,
Roxana, Andrei and Ayat) and at ESTEC (Julien, Guillaume, and many more) for inspiring
working atmosphere and nice coffee breaks.
On a personal level, many have supported me along the way. First and foremost, my parents,
brother and sisters have all guided and influenced me in their own way. I am grateful to Miriam
for her continuous support, understanding, patience and encouragements during all these years.
Slovakia, December 2014 Robert Fonod
ii
Table of Contents
Acknowledgements i
Table of Contents iii
List of Figures vii
List of Tables xi
Nomenclature xiii
Terminology xix
Author’s List of Publications xxiii
Résumé en Français (French Summary) xxv
Introduction 1
1 State of the Art in Model-based Fault Diagnosis and Active FTC 7
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 General Procedure of Fault-tolerant Control Systems . . . . . . . . . . . . . . . . 8
1.3 Methods for Fault Detection and Isolation . . . . . . . . . . . . . . . . . . . . . . 12
1.3.1 Parity Space Approach. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.2 Observer-based Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3.2.1 Iterative Learning Observer . . . . . . . . . . . . . . . . . . . . . 16
1.3.2.2 Unknown Input Observer . . . . . . . . . . . . . . . . . . . . . . 16
1.3.2.3 Eigenstructure Assignment . . . . . . . . . . . . . . . . . . . . . 20
1.3.2.4 Sliding Mode Observers . . . . . . . . . . . . . . . . . . . . . . . 23
1.3.2.5 Geometric Approaches . . . . . . . . . . . . . . . . . . . . . . . 25
1.3.3 Parameter Identification-based Approaches . . . . . . . . . . . . . . . . . 29
1.3.3.1 Extended Kalman Filter . . . . . . . . . . . . . . . . . . . . . . 30
1.3.3.2 Particle Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.3.3.3 Unscented Kalman Filter . . . . . . . . . . . . . . . . . . . . . . 33
1.3.4 Norm-based Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.3.4.1 The Pure H Filtering Formulation . . . . . . . . . . . . . . . . 35
∞
1.3.4.2 The H /H Approach . . . . . . . . . . . . . . . . . . . . . . . 37
∞ −
iii