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Model-based fault detection and control design – applied to a pneumatic Stewart-Gough platform
conference contribution
posted on 2010-09-08, 13:50 authored by Karmjit Singh Grewal, Roger Dixon, John T. PearsonThis paper discusses research carried-out on the development and validation of a model-based fault detection and isolation (FDI) system for a pneumatically actuated Stewart platform arrangement. The FDI scheme is based on combining parity-equation and Kalman filter based techniques. The parity and Kalman filter equations are formulated and used to generate residuals that, in turn, are analysed to determine whether faults are present in the system. Details of the design process are given and the experimental results are compared. The
results demonstrate that both approaches when combined can successfully detect and isolate and in some cases accommodate faults associated with the sensors, actuators (servo-valves and piping) and the pneumatic system itself. The work is part of a BAE SYSTEMS’ sponsored project to demonstrate advanced control and diagnosis concepts on an industrial application.
History
School
- Mechanical, Electrical and Manufacturing Engineering
Citation
GREWAL, K.S., DIXON, R. and PEARSON, J.T., 2010. Model-based fault detection and control design – applied to a pneumatic Stewart-Gough platform. Actuator 10, 12th Conference on New Actuators, Bremen, Germany, 14-16 June.Publisher
© International Conference and Exhibition on New Actuators and Drive SystemsVersion
- AM (Accepted Manuscript)
Publication date
2010Notes
This is a conference paperPublisher version
Language
- en