Logic-Dynamic Approach to Fault Diagnosis in Mechatronic Systems

This paper presents a problem of fault detection and isolation (FDI) in mechatronic systems described by nonlinear dynamic models with such types of no differentiable nonlinearities as saturation, Coulomb friction, backlash, and hysteresis. To solve this problem, so-called logic-dynamic approach is suggested. This approach consists of three main steps: replacing the initial nonlinear system by certain linear logic-dynamic system, obtaining the bank of linear logic-dynamic observers, and transforming these observes into the nonlinear ones. Logic-dynamic approach allows one to use the linear FDI methods for diagnosis in nonlinear mechatronic systems.

[1]  Alberto Isidori,et al.  A Geometric Approach to Nonlinear Fault Detection and Isolation , 2000 .

[2]  M. Zeitz,et al.  Extended Luenberger observer for non-linear multivariable systems , 1988 .

[3]  R. Patton,et al.  Observer Design for a Class of Non-Linear Systems , 1997 .

[4]  V. F. Filaretov,et al.  Observer-based fault diagnosis in manipulation robots , 1999 .

[5]  Ron J. Patton,et al.  Robust Model-Based Fault Diagnosis: The State of the ART , 1994 .

[6]  Alexey N. Zhirabok,et al.  FAULT DIAGNOSIS IN NONLINEAR DYNAMIC SYSTEMS VIA LINEAR METHODS , 2002 .

[7]  George C. Verghese,et al.  Optimally robust redundancy relations for failure detection in uncertain systems , 1986, Autom..

[8]  Paul M. Frank,et al.  Issues of Fault Diagnosis for Dynamic Systems , 2010, Springer London.

[9]  Keith Worden.  Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances , 2005 .

[10]  Huibert Kwakernaak,et al.  Linear Optimal Control Systems , 1972 .

[11]  J. Hedrick,et al.  Nonlinear Observers—A State-of-the-Art Survey , 1989 .

[12]  Michel Kinnaert,et al.  Diagnosis and Fault-Tolerant Control , 2004, IEEE Transactions on Automatic Control.

[13]  D. N. Shields.  Quantitative Approaches for Fault Diagnosis Based on Bilinear Systems , 1996 .

[14]  Alexey N. Zhirabok,et al.  Robust Fault Detection and Isolation in Nonlinear Systems , 1994 .

[15]  V. F. Filaretov,et al.  Parity relation approach to fault diagnosis in manipulation robots , 2003 .

[16]  Rolf Isermann,et al.  Trends in the Application of Model Based Fault Detection and Diagnosis of Technical Processes , 1996 .

[17]  M. Staroswiecki,et al.  Fault detectability and isolability in algebraic dynamic systems , 1999, 1999 European Control Conference (ECC).

[18]  Richard D. Braatz,et al.  Fault Detection and Diagnosis in Industrial Systems , 2001 .

[19]  Paul M. Frank,et al.  Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy: A survey and some new results , 1990, Autom..

[20]  Paul M. Frank,et al.  Fault-diagnosis by disturbance decoupled nonlinear observers , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[21]  Paul M. Frank,et al.  Nonlinear observer design via an extended observer canonical form , 1990 .