Open AccessFault Isolation of an Electro-mechanical Linear Actuator
Author(s) -
Matt Kemp,
Éric Martin
Publication year - 2018
Publication title -
proceedings of the annual conference of the prognostics and health management society
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.18
H-Index - 11
ISSN - 2325-0178
DOI - 10.36001/phmconf.2018.v10i1.539
Subject(s) - control theory (sociology) , actuator , fault (geology) , fault detection and isolation , coupling (piping) , residual , isolation (microbiology) , engineering , control engineering , servo , controller (irrigation) , computer science , algorithm , mechanical engineering , control (management) , electrical engineering , artificial intelligence , agronomy , microbiology and biotechnology , seismology , biology , geology
We apply model-based fault-isolation to an electromechanical linear actuator, and demonstrate its use on an unmanned underwater vehicle mass-shifter. Models incorporating the physics of the motor and of the load, and the effect of the servo-controller, are derived for nominal operations, overload faults, and coupling loss faults. A simple parameter identification method based on close-form solutions during startup and at steady-state is used, and is shown to produce good agreement with measurements. Fault-isolation is done by representing the system as a time-dependent mixture of its models, and selecting the model with the smallest error residual. We tested this in three situations – an actual overload fault, an actual coupling fault, and a false-alarm – and found that the correct model was successfully isolated in each case.