Development of Fault Identification System for Electric Servo Actuators of Multilink Manipulators Using Logic-Dynamic Approach

Abstract

This paper presents the method of synthesis of faults identification systems for electric servo actuators of multilink manipulators. These actuators are described by nonlinear equations with significantly changing coefficients. The proposed method is based on logic-dynamic approach for design of diagnostic observers for fault detection and isolation. An advantage of this approach is that it allows studying systems with nonsmooth nonlinearities by linear methods only. For solving the task of faults identification, a residual signal feedback was proposed to be used for observers. The efficiency of the proposed fault identification system was confirmed by results of simulation.

Fault Identification in Mobile Robot groups using Sliding Mode Observers

“…Скользящие наблюдатели используются для идентификации дефектов в линейных [20][21][22][23][24], нелинейных [25][26][27] и сингулярных системах [28], для обеспечения отказоустойчивого управления [29][30][31], в ряде практических приложений [32][33][34].…”

“…Как только эти элементы идентифицированы, закон управления изменяется определенным образом, и система остается работоспособной. Подход, предложенный в[31,36], предполагает каскадную схему реконфигурации и технику распределения управлений, что позволяет избежать перестройки контроллера. Отметим, что скользящие наблюдатели в[37] и аналогичных работах строятся на основе исходной системы.…”

Archives of Control Sciences

“…2 When sliding motion is achieved that is e 1 = ė1 = 0 and e 2 = ė2 = 0, it follows from (11) that the function d(t) can be estimated by (14) or (15).…”

“…for fault tolerant control [1,8], in practical applications [13,14,31]. Sufficient conditions for existence of SMO are that the invariant zeroes of the system must be stable (minimum phase) and the matching condition is satisfied [9]; these conditions could be stringent and limit the applicability of SMO technique.…”