Abstract
This paper addresses diagnosis and prognosis problems for an electric scooter subjected to parameter uncertainties and compound faults (i.e., permanent fault and intermittent fault with non-monotonic degradation). First, the diagnostic bond graph in linear fractional transformation form is used to model the uncertain electric scooter and derive the analytical redundancy relations incorporating the nominal part and uncertain part, based on which the adaptive thresholds for robust fault detection and the fault signature matrix for fault isolation can be obtained. Second, an adaptive enhanced unscented Kalman filter is proposed to identify the fault magnitudes and distinguish the fault types where an auxiliary detector is introduced to capture the appearing and disappearing moments of intermittent fault. Third, a dynamic model with usage dependent degradation coefficient is developed to describe the degradation process of intermittent fault under various usage conditions. Due to the variation of degradation coefficient and the presence of non-monotonic degradation characteristic under some usage conditions, a sequential prognosis method is proposed where the reactivation of the prognoser is governed by the reactivation events. Finally, the proposed methods are validated by experiment results.
Highlights
The electric scooter, known as mobility scooter, promises to enhance the mobility of older and disabled people
In order to evaluate the performance of the proposed fault diagnosis and prognosis method, In orderparameter to evaluate the performance of the proposed faultuncertainty diagnosis and prognosis the the nominal values and the respective multiplicative values shouldmethod, be properly nominal parameter values and the respective multiplicative uncertainty values should be properly identified so that the developed model can capture the dynamic behavior of the monitored electric identified so thatSome the developed the dynamic behavior specifications, of the monitored electric scooter system
Some parameter values are taken from the manufacture specifications, so that no uncertainties are defined for these parameters
Summary
The electric scooter, known as mobility scooter, promises to enhance the mobility of older and disabled people. It offers convenience on people’s work and life, but at the same time, brings a security risk, or can even lead to a serious consequence. It is imperative to develop a fault diagnosis and prognosis approach to ensure system safety and reliability [1]. Fault diagnosis is an important element of condition-based maintenance and mainly includes fault detection, fault isolation and fault identification [2]. The faults in monitored systems can be divided into permanent faults and intermittent faults [3]. Abrupt fault and incipient fault are two kinds of well-known permanent faults
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