Abstract
For the fault detection of mechatronic control system, based on observer a feedforward compensation approach was presented. The model of a mechatronic control system was investigated and divided into two loops for disturbance compensation and fault detection. The external disturbance of the vehicle was analyzed, and the relationship between the support shaft friction moment as main disturbance element and the attitude effect of the vehicle was built by the way of data curve fitting. The adjustment coefficients were proposed respectively in nine kinds of running section of the vehicle, because disturbance was very complicated and time-variant in different section. Fault detection observer was designed to generate residuals in the inner loop, and the whole residual was calculated. The compensation was deduced in accordance with responses produced by the disturbance, so the disturbance could be compensated. Band filter was proposed for other noises. Finally, an example was presented to illustrate the proposed approach. The simulation results showed that the disturbance elements can be compensated rapidly.
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