Output-Only Measurements for Fault Detection of Multi-Actuator Systems in Motion Control Applications

Abstract

This paper investigates actuator fault detection in linear systems with a number of actuators. We consider some of the most common actuator faults such as actuator loss of effectiveness and fatigue crack in the connection hinges. We use transmissibility operators, which are mathematical models that characterize the relationship between sensors in an underlying system, for fault detection of actuators. Transmissibilities identified under healthy conditions can be used along with measurements of healthy sensors to predict other sensors’ measurements without knowledge of the dynamics of the system or the excitation that acts on the system. We apply the proposed approach to an analytical model with twelve actuators, and an experimental setup consisting of twelve electromechanical actuators and two accelerometers.