外文翻译--电液伺服系统中非线性观察器的故障检测技术英文版.pdf

Mechatronics 15 (2005) 1037–1059 Nonlinear observer-based fault detection technique for electro-hydraulic servo-positioning systems H. Khan a, Seraphin C. Abou b,*, N. Sepehri c a Canadian Space Agency, Mission Operations, Montreal, Canada b ´ ´ Department of Mechanical Engineering, Ecole de technologie superieure, 1100 Notre-Darme Ouest, Montreal, Canada H3C 1K3 c Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Canada Accepted 31 May 2005 Abstract The purpose of this paper is to present an experimental evaluation of a model-based tech- nique for faults in electro-hydraulic servo-positioning systems using a nonlinear observer. In general, a fault is defined as an undesirable deviation of a characteristic property, which pre- vents a desired purpose to be achieved, and which leads to an anomaly in the overall system performance. A nonlinear observer-based principle, combined with Walds sequential test is proposed for detecting faults. The fault detection process is facilitated by the control signal and the actuators linear velocity, which are the measurable input and output variables, respec- tively. Simulation studies are conducted for both observer performance and the fault detection technique. System and sensor faults are simulated for changes in the bulk modulus. The valid- ity of the nonlinear observer was confirmed by simulations and experiments for faults due to incorrect supply pressures as well as sensor faults. Results reveal that faults can be quickly detected. Overall, they show the efficacy and the promise of the proposed scheme. 2005 Elsevier Ltd. All rights reserved. * Corresponding autho