Actuator_10.pdf (549.35 kB)

Model-based fault detection and control design – applied to a pneumatic Stewart-Gough platform

Download (549.35 kB)
conference contribution
posted on 08.09.2010, 13:50 by Karmjit Singh Grewal, Roger Dixon, John T. Pearson
This 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 Systems

Version

AM (Accepted Manuscript)

Publication date

2010

Notes

This is a conference paper

Language

en

Exports