Actuator Fault Diagnosis in Mechanical Systems - Fault Power Estimation Approach

摘要

A systematic method is introduced to deal with actuator faults in a class of nonlinear mechanical control systems. The presence of the fault is detected by monitoring the fault induced modifications in the control system's energy balance. From the energy deviation the residual generator estimates the power of the fault. For fault isolation and identification the set of fault power pattern signals is defined. Using signal processing methods the elements of this set are compared to the residual signal to determine the characteristics and the magnitude of the fault. The method does not require assumptions on the system's model and it can handle parameter uncertainties. The applicability of the proposed method is shown through mechatronic examples.