Model-Based Fault Detection for an Actuator Driven by a Brushless Dc Motor

摘要

A real time fault detection approach for a brushless DC motor driving a mechanical actuation system is presented. The brushless DC motor is controlled by a PWM inverter using rectangular current excitation. After an introduction into faultdetection with parameter estimation and parity equations, a mathematical model for the actuator with special emphasis on the motor itself is derived. The application of the estimation algorithm to detect electrical and mechanical parameter changes in themotor is described. In addition parity equations are used to detect sensor offsets. The fault detection scheme is implemented on a digital signal processor controlling the actuator. Finally experimental results are given.