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

摘要

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.