Sensor fault detection for dynamic point‐the‐bit rotary steerable system via finite‐frequency domain observer and zonotope residual evaluation

Abstract

In this paper, the sensor fault detection (FD) problem is investigated for the dynamic pointthe-bit rotary steerable system (DPRSS), which is known as state-of-the-art oil drilling equipment. Firstly, the DPRSS dynamic is modelled as a linear system with drilling disturbances, which consists of model perturbations, measurement disturbances, and unknown inputs. Secondly, the finite-frequency H − ∕H ∞ unknown input observer is proposed to generate the residual, which is sensitive to sensor faults and robust against drilling disturbances. Subsequently, considering model perturbations and measurement disturbances, the zonotope-based residual evaluation method is presented, and the FD decision-making logic is designed based on the calculated residual bounds. Finally, numerical simulations and prototype experiments are provided to illustrate the effectiveness of the proposed sensor FD mechanism.

Residual evaluation of fault detection in discrete‐time systems

“…Tang et al [20] investigate actuator fault detection and isolation for discrete‐time linear descriptor systems by using a real‐time residual evaluation based on a zonotopic reachable set estimation. Wang et al [21] present the zonotope‐based residual evaluation method to design the fault detection decision‐making logic for the dynamic point‐the‐bit rotary steerable system. It should be noted that the reachable set estimation methods based on zonotopic technique are computationally intensive and can not directly deal with nonlinear systems.…”

H∞ attenuation of disturbance switching over multiple frequency ranges

“…26 Recently, many related research results in finite-frequency domain exist. [27][28][29][30] These applications have demonstrated the importance of finite-frequency specifications in practical projects.…”

“…Frequency‐dependent fault estimation/detection strategies were also investigated 24,25 and applied to ground vehicles for improved fault sensitivity performance 26 . Recently, many related research results in finite‐frequency domain exist 27–30 . These applications have demonstrated the importance of finite‐frequency specifications in practical projects.…”