在上一个视频中，我们成功创建了一个通用设备函数，能够处理所有这些不同类型的设备。
And the last videos we managed to create a generic device function that is able to handle all these different kinds of devices.

现在，我们需要研究此功能的诊断和检测，以便能够检测执行器或传感器何时无法正常工作。
Right now we will need to look into the fall to diagnosis and detection of this function in order to be able to detect when an actuator or sensor is not working properly.

但首先，我们需要更深入地观察通用设备实际上允许设备的哪些状态和配置。
But first, we will need to carry out to perform a deeper observation on how what kind of states and configurations of the devices are actually allowed by the generic device.

在这里，您可以看到一个表格，描述通用设备的反馈和状态的可能配置。
Over here you can see a table describing the possible configurations of feedback's and state for the generic device.

现在我们正在研究那个双反馈装置。
Right now we are looking at that double feedback device.

在此，本专栏描述了传感器值的不同配置。
So over here, the column described the different configurations of the sensor values.

例如，如果您是零，我们正在研究一种配置，其中设备反馈和启用的反馈传感器都等于 false。
In, for instance, if you're we have zero zero and we are looking at a configuration where both the device feedback and the enabled feedback sensors are equal to false.

在本例中，我们正在查看禁用反馈等于 true 且启用反馈等于 false 等的配置。
In this one, we are looking at the configuration where the disable feedback is equal to true and enable feedback is equal to false and so on.

相反，在道路上我们有实际的通用设备来表示。
And instead on the roads we have the actual generic device to states.

因此，现在我们将了解哪些配置对于以正确方式运行的设备实际上是可接受的，以及哪些其他配置实际上可以用于检测所有情况是否正在发生。
So right now we will look at what which configurations are actually admissible for a device that is functioning in the proper way and which other configurations are can actually be used to detect if all that is occurring.

所以。
So.

在这里，我们实际上可以看到配置的两种状态实际上是稳定的。
Over here, we can actually see that there are two states to configuration that are actually, let's say, stable.

您可以在这里看到，这一个和这一个是稳定配置，因为这是经典配置，其中设备以稳定的方式、在稳定的条件下被禁用，因为我们处于禁用状态，并且反馈仅是禁用的。
You can see over here that this one and this one are stable configurations because this one is the classical configuration where the device is disabled in a steady way, in a steady condition, because we are in the disabled state and the feedback's only the disabled.

反馈为真，而初始反馈为假。
Feedback is is true while the initial feedback is false.

所以这就是它应该的样子，设备应该如何处于禁用状态。
So this is how it should be, how the device should be in a disabled state.

在这里，我们有未知且类似的配置，其中我们只有启用的反馈，并且没有禁用的反馈，我们处于令人羡慕的状态。
And over here we have the unknown and analogous configuration where the we have the only the enabled feedback and we don't have the disabled feedback and we are in an enviable state.

所以这两个实际上是系统现在的两个稳定状态。
So these two are actually the two stable states for the system right now.

我们将研究其他配置，看看导致设备在其他状态下增长的原因是什么。
We shall look into the other configuration and see what may be the cause for growing the device in the other states.

因此，如果我们首先看这个，嗯，第一个单元格，我们失去了禁用反馈，而没有实际进入启用状态。
So if we look at this first, um, this first cell where we lose the disable feedback without actually moving to the enabling state.

因此，这意味着没有请求到来，并且设备实际上正在丢失禁用的反馈，而这只能是由于禁用的反馈故障造成的。
So this means that no request has come and the device is actually losing the disabled feedback, and this can only be due to a disabled feedback fault.

因此，这意味着禁用的反馈传感器已变为错误，而设备实际上并未移动。
So this means that the disabled feedback sensor has become false without the device actually moving.

因为实际上没有发出请求，所以如果我们移动到另一个单元格，即具有一个反馈的单元格，则两个反馈都是正确的。
Because no requests were actually issued instead, if we move to this other cell, the cell with the one one feedback, both feedbacks are true.

这意味着实际上使能反馈已经无缘无故地变成了真。
This means that actually the enable feedback has become true without any reason.

因此，这必定意味着启用反馈传感器出现故障。
So this must mean that the enable feedback sensor as as a fault.

这意味着禁用的反馈交换和启用的反馈都已更改，而不是我们实际上在禁用状态下设法达到此零一配置。
Instead of we actually managed to get to this zero one configuration while being in the disabled state, it means that both the disabled feedback exchange and the enable feedback has changed.

这只能是由于设备实际上已经移动并且状态实际上已经改变了。
And this can only be due to the fact that the device has actually moved and the state is actually changed.

所以这意味着实际发生了违约。
So this means that an actual default as occurred.

因此，对于禁用状态，我们看到存在三种可能的配置，使我们能够检测三种不同的故障。
So over here for the disabled state, we have seen that there are three possible configuration that allow us to detect three different faults.

现在让我们看看启用状态。
Let's look right now at the enabled state.

这以类似的方式工作。
This works in a similar way.

所以如果我们失去了这个，我们就处于零一配置。
So we are in a zero one configuration if we lose this one.

所以我们到达这里的这个单元格，这意味着初始反馈无法正常工作。
So we get to this cell over here, it means that the initial feedback is not working properly.

所以我们实际上可以找到并启用随后的反馈。
So we actually can find out and enable feedback followed.

同样，如果我们通过让两个传感器等于 through 来移动到这里的单元格，这意味着禁用的反馈实际上是错误的。
And the same way if we instead we move to this cell over here by getting both sensors equal to through, this means that disabled feedback is actually at fault.

与以前一样，如果我们实际上设法达到两个反馈开关都已切换其值的配置，那么我们就是这样。
And in the same way as before, if we actually managed to get to a configuration where both feedback's as switch have switched the their value, we are.

这实际上意味着两者都发生了变化。
This actually means that both have changed.

因此，执行器实际上以一种不符合预期的方式作用于设备。
So the actuator has actually acted on the device in a way that it was not meant to be.

因此，在此配置中，我们有一个称为执行器故障的实际设备。
So over here in this configuration, we have at an actual device called an actuator fault.

好的，这就是我们在稳定状态、禁用状态或任何状态下可以检测到的故障。
OK, so this are the faults that we can detect when we are in an in a steady state, in a disabled state or any state.

现在让我们看看启用阶段。
Let's look right now at the enabling phase.

因此，为了进入赋能阶段，我们需要从这里开始。
So in order to move to an enabling phase, we will need to go to start from this up.

好的，说明一下，这里有两种不允许的配置，即这一种和这一种，因为在这种配置中，我们的初始反馈等于 true。
OK, state, there are two states such configurations over here that are not allowed that they are this one and this one, because in this configurations we have the initial feedback equal to true.

一旦我们知道，因为我们刚刚对此进行了编程，如果我们处于启用状态并且我们获得等于通过通用设备的启用反馈，则会自动转换到启用状态。
And as soon as we you know, since we have just programmed this, if we are in the enabling state and we get to the enable feedback equal to through the generic device will automatically transition to the enable state.

所以这两种状态不会是永久的。
So this these two states will not will not be permanent.

我们不能停留在这种状态。
We cannot stay in this state.

我们可以从这个开始。
We can from this one.

我们将简单地转换到 OK 状态。
We will simply transition to the OK state.

从这里开始，我们将简单地过渡到此处状态的禁用反馈。
And from this one, we will simply transition to the disabled feedback for state over here.

所以这两种状态都是不允许的。
So these two states are not allowed.

因此，如果我们从这里的禁用状态转移到启用状态下的零零配置，则一切都很好。
So if we get from this disabled state over here and we move to this zero zero configuration in the enabling states, everything is fine.

但这可能意味着如果我们进行超时配置，我们会遇到错误。
But it may mean that we get a fault if we get to a timeout configuration.

因此，如果我们处于这种零零配置中，则意味着设备实际上移动了，因为我们失去了禁用的反馈，但我们没有获得初始反馈。
So if we are in this zero zero configuration, it means that the device actually moved because we lost to the disabled feedback, but we didn't get the initial feedback.

所以这意味着执行器正在工作而初始反馈没有工作。
So this means that the actuator is working and the initial feedback is not.

最后一个条件是我们处于一零状态，我们开始启用设备，即使在超时后，一零状态仍然存在，这意味着执行器不工作，因为设备没有移动。
And the last condition is that we are in the one zero state, we start enabling the device and the one zero condition remains even after a timeout, and this means that the actuator does not work because the device is not moving.

好吧，我们继续讲禁用状态和禁用状态。
OK, let's move on to the disabling state and the disabling state.

同样，我们有两种不允许的配置，因为它们直接导致转换到禁用状态。
Again, we have two configurations that are not allowed because they lead directly to a transition to the disabled state.

它们是这个和这个，因为在这两种状态下，我们使禁用反馈等于 true，禁用反馈等于 through 意味着自动传输到禁用状态。
And they are this one and this one, because in these two states, we have the disabled feedback equal to true and disabled feedback equal to through means an automatic transmission to the disabled state.

所以最后两个配置是这样的，在这个零零配置中，如果我们超时，则意味着设备实际上已被删除。
So the last two configurations are this, once again, in this zero zero configuration, if we get to a timeout, it means that the device actually removed.

执行器正在工作，但我们没有得到我们正在等待的禁用反馈。
The actuator is working, but we are not getting the disabled feedback we are waiting for.

所以这意味着存在反馈禁用故障。
So this means that there is a disabled feedback fault.

最后一个是我们从这里的 OK 状态转换到门徒训练状态，并且设备没有移动。
And the last one is this one in which the we are transitioning from the OK state over here to the discipling state and the device is not moving.

因此，如果超时，则意味着执行器实际上无法工作。
So if we get to the time out, this means that the actuator is actually not working.

因此，在这里，我们设法获得了一个描述所有配置的表，并且我们可以实际查看状态和反馈配置以实际检测故障。
So over here, we managed to get a table that describes all the configurations and we can actually look at the state and feedback configuration to actually detect the fault.

稍后，我们将编写代码来执行此检测。
And later on, we will write the code to carry out this detection.

现在让我们看看拉丁语是其他类型的设备和单个禁用反馈。
Let's look at Latin right now are the other kinds of devices and the single disable feedback.

所以在单次禁用反馈中，我们没有任何负面反馈。
So in the single disable feedback, we don't have any negative feedback.

所以我们实际上只有以前的一半配置。
So we are actually have half the configurations of before.

因此，在这里我们将再次选择稳定状态，在这种状态下，我们的禁用反馈等于 true，并且我们实际上已禁用。
So over here we will have again choose stable states, this one in which we have the disabled feedback equal to true and we are actually disabled.

在这个例子中，我们的禁用反馈等于零，并且我们实际上在该设备中启用了，我们无法看到禁用反馈或激活是否有故障，因为，例如，让我们评估这个这里的这个牢房。
And this one where we have the disabled feedback equal to zero and we are actually enabled in this device, we are not able to see if we are having a fault on the disabled feedback or on the activation, because, for instance, let's evaluate this this cell over here.

我们只能说我们遇到了设备故障，因为我们只是观察到设备被禁用，并且我们看到可见反馈从 1 到 0 的转变。
We can only say that we are having a device fault because we are just observing that the device is disabled and we are seeing a transition from one to zero of the visible feedback.

我们无法确定设备是否在启动时禁用反馈、停止工作或执行器是否已停止工作且设备自行移动。
And we cannot be sure if the device disabled feedback as a start, stop the working or if the actuator has stopped working and the device moved on its own.

所以在这个设备中，我们无法区分执行器或传感器传感器的故障。
So in this device, we are not able to to distinguish from actuator or sensor sensor faults.

因此，以同样的方式，如果我们处于相邻状态并且我们看到禁用反馈转变为状态，我们可以说我们有一个被调用的设备。
So in the same way, if we are in the neighboring state and we see a transition of the disable feedback to one, again, we can say that we have a device called.

如果我们正在启用一个设备并且我们在其中，我们必须禁用我们在这里通过的反馈，如果我们超时而没有获得等于零的可见反馈，我们可能会出错。
If we are enabling a device and we are in it, we have to disable feedback we to through over here, we can get at fault if we have a time out without getting to the without getting the visible feedback equal to zero.

如果我们禁用等于零的反馈，我们会自动过渡到这里的伊拉克国家。
If we get to disable feedback equal to zero, we automatically transition to the Iraqi state over here.

所以国家又不允许了。
So the state is again not allowed.

在蜜球状态中以同样的方式再次不允许这种配置。
This configuration is again not allowed then from in the same way from the Honeyball state.

如果我们向后移动，移至禁用反馈，但我们没有得到正在等待的禁用反馈，这意味着我们在超时后会出现错误。
If we move back, move to the disabling one and we don't get to the disable feedback that we are waiting for, this means that we get a fault after a timeout.

再次，和以前一样，该状态是不允许的，因为它将自动转换到禁用状态。
And again, as before, the state is not allowed because it will carry out an automatic transition to the disable state.

好的，让我们继续讨论这里的单个启用反馈。
OK, so let's move on to the single enable feedback over here we have.

再次，两个稳定状态，这个和这个，所以第一个，我们被禁用，我们没有反馈，第二个我们被启用，我们有启用的反馈。
Two stable states, again, this one and this one, so the first one, we are disabled and we don't have the feedback and the second one we are enabled and we have the enabled feedback.

所以，再说一次，如果我们在这里有一个从零到一的传输，我们就被禁用了。
So, again, if we have a transmission over here from zero to one, we're disabled.

这意味着我们有一个设备 Folta，我们无法区分传感器和执行器故障。
This means that we have a device, Folta, that we cannot distinguish between sensor and actuator fault.

再说一次，在这里我们有一个名为“透明设备”的设备。
And again, over here we have a device called a clear device called.

如果我们再次进入这里的启用状态，如果我们在超时之前没有获得等于 true 的初始反馈，我们将会陷入困境。
If again, we get to the enabling state over here, we will have a falter if we don't get the initial feedback equal to true before the time out.

所以如果我们在这里超时，我们肯定会遇到设备故障。
So if we have a time out over here, we will surely have a device fault.

再说一次，这里的状态是不允许的，因为这意味着将直接发生到该状态的转换。
And again, this state over here is not allowed because it will mean that a transition will occur directly to the state.

然后转到这里的禁用状态，在这个状态下就会出现故障。
Then moving on to the disabling state over here, you will have a fault in this state.

我们忘记了动物饲料，我们在超时后保留动物饲料。
We forget the animal feed, we maintain the animal feed back after the timeout.

再说一次，我们将会拥有它。
And again, we will have that.

这种设备实际上不允许这种状态。
This state is not actually allowed by this kind of device.

如果我们没有反馈设备，实际上我们根本无法说出任何有关设备故障的信息。
And if we have no feedback device, we actually cannot say anything at all about our device faults.

因此，由于我们没有传感器，因此我们无法检测到是否有东西不起作用。
So since we have no no sensors, we cannot detect that if something is not working.

所以在这个视频中，我们实际上设法找到了表格，这些表格根据配置描述了故障，在下一个视频中，我们将在我们的通用设备中实现这一点，我们将在实际的设备上进行测试活塞的这个项目的一些示例问题。
So in this video, we actually managed to go to to find out the tables, these tables that describe the fault according to the configuration, and in the next video, we will implement this in our generic device and we will test this on the actual piston's of some example questions of this project.