Failure detection and accommodation in structural dynamics systems using analytic redundancy

The concept of analytic redundancy is extended to identify nonzero constant output failures in large spacecraft active control sensors and actuators, using a set of distributed sensors which do not nominally produce equivalent signals but are related through the structural dynamics of the system. The suboptimal technique uses a Sequential Probability Ratio Test on the residual sequence of a Kalman filter based on a modal structure model, to determine failure of a component based on an assumed failure hypothesis. The specific failure is identified and then the Kalman filter gains are reconfigured for the identified remaining working sensor set. Experimental data using an apparatus whose dynamics are representative of a large spacecraft show the nominal filter performance under failed and unfailed conditions.