Abstract
This paper considers a general approach to fault diagnosis using a generalized Hamiltonian system representation. It can be considered that, in general, nonlinear systems still represent a problem in fault diagnosis because there are results only for a specific class of them. Therefore, fault diagnosis remains a challenging research area despite the maturity of some of the available results. In this work, a type of nonlinear system that admits a generalized Hamiltonian representation is considered; in practice, there are many systems that have this kind of representation. Thereupon, an approach for fault detection and isolation based on the Hamiltonian representation is proposed. First, following the classic approach, the original system is decoupled in different subsystems so that each subsystem is sensitive to one particular fault. Then, taking advantage of the structure, a simple way to design the residuals is presented. Finally, the proposed scheme is validated at the two-degree of freedom (DOF) helicopter of Quanser®, where the presence of faults in sensors and actuators were considered. The results show the efficacy of the proposed scheme.
Highlights
Most dynamic systems, such as industrial processes, need to operate in a continuous and safe manner; effective fault diagnosis is key to ensuring that happens
It is important to mention that the purpose of the present paper is to provide a novel methodology for fault detection in mechanical systems, which can be characterized using a generalized Hamiltonian structure, with an application to the case of a 2-degree of freedom (DOF) Quanser Helicopter
Because the 2-DOF system is in a closed loop, is possible to implement a PID control
Summary
Most dynamic systems, such as industrial processes, need to operate in a continuous and safe manner; effective fault diagnosis is key to ensuring that happens. Fault diagnosis has been an area of great interest regarding dynamic systems research. [1], fault diagnosis remains a challenging research area. The main achievements of fault diagnosis available in the literature are regarding linear systems, for which a complete analysis of fault isolability is available. For nonlinear systems there are some tools, like the structural analysis, within a fault isolability structural analysis is possible. Some of these challenges are the search of a general approach for nonlinear systems, isolation of faults occurring simultaneously, as well as the fault isolation of different types of faults (sensor, component and actuator faults)
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