Coulomb and viscous friction fault detection with application to a pneumatic actuator

Generally, fault detection is the process of monitoring a physical dynamic system accompanied by conformation and assessment of any degradation of system performance. These systems are modelled and terms that are representative of a specific fault are identified and monitored for detection. In this paper, a fault detection algorithm is developed to isolate and detect friction changes in a high precision positioning mechanism. The designed fault detection algorithm addresses dynamic model estimation, dynamic filtering and recursive parameter estimation techniques to monitor online friction changes. The procedure is illustrated on a high precision servo pneumatic cylinder that drives a translational air bearing apparatus, designed to permit the addition of friction. Side loading of the cylinder rod induced by a friction fault causes significant loss of performance in these applications. It therefore serves to design a simple and effective online fault detection and isolation scheme for the designed experimental set-up.

[1]  W. Dunbar.  Damage detection in dynamic systems with nonlinearities , 1999 .

[2]  Sadao Kawamura,et al.  Practical Design of a Sliding Mode Controller for Pneumatic Actuators , 1997 .

[3]  Umit Ozguner,et al.  Robust control of systems involving non-smooth nonlinearities using modified sliding manifolds , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[4]  R. A. de Callafon,et al.  Multivariable least squares frequency domain identification using polynomial matrix fraction descriptions , 1996 .

[5]  Toshiro Noritsugu,et al.  Robust positioning control of pneumatic servo system with pressure control loop , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Kwang-Joon Kim,et al.  FRICTION IDENTIFICATION IN A SIGHT STABILISATION SYSTEM AT LOW VELOCITIES , 1997 .

[7]  R.D. Lorenz,et al.  Experimental identification of friction and its compensation in precise, position controlled mechanisms , 1991, Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting.

[8]  Rajendra Singh,et al.  Accurate Position Control of a Pneumatic Actuator , 1989, 1989 American Control Conference.

[9]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[10]  Bernard Friedland,et al.  On the Modeling and Simulation of Friction , 1990, 1990 American Control Conference.

[11]  Bernard Friedland,et al.  On the Modeling and Simulation of Friction , 1990, 1990 American Control Conference.

[12]  D. B. Preston.  Spectral Analysis and Time Series , 1983 .