Abstract
This paper presents an observer based actuator fault detection algorithm for an electro hydraulic system. A nonlinear observer is first designed which is robust with respect to model uncertainties and external disturbances. Then, the developed observer is applied for fault detection in a hydraulic actuator with unknown friction forces. This paper focuses on the small internal leakage that defined as an actuator fault and the leakage is detected by an adaptive threshold. In addition to theoretical analysis and closed loop stability proofs, simulation results are also included to show the effectiveness of the method in the presence of system uncertainties and disturbances.
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Abbreviations
- P S , P r :
-
Supply and Return pressure (Pa)
- f d :
-
Viscous friction (N/m/s)
- β :
-
Fluid bulk modulus (Pa)
- A :
-
Piston effective area (m 2)
- V :
-
Volumes of the fluid trapped at the sides of the actuator, including hoses (m 3)
- τ :
-
Gain of the valve dynamic (s)
- k d :
-
Metering coefficient (m 3/2/kg 3/2)
- w :
-
Orifice area gradient (m)
- k sp :
-
Coefficient of the valve dynamic (V/m)
- m :
-
Mass of the actuator (kg)
- k f :
-
Effective bulk modulus (V/m)
- q il :
-
Actuator internal leakage flow (m 3/s)
- k il :
-
Internal leakage coefficient (m 3/√Pa)
- ν :
-
Actuator velocity (m/s)
- P :
-
Input and output line pressure (Pa)
- x sp :
-
Spool displacement (m)
- q el1, q el2 :
-
Actuator external leakage flows (m 3/s)
- k el1, k el2 :
-
External leakage coefficient (m 3/√Pa)
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Rezazadeh, A.S., Koofigar, H.R. & Hosseinnia, S. Robust leakage detection for electro hydraulic actuators using an adaptive nonlinear observer. Int. J. Precis. Eng. Manuf. 15, 391–397 (2014). https://doi.org/10.1007/s12541-014-0349-2
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DOI: https://doi.org/10.1007/s12541-014-0349-2