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Title: Model-based fault detection and control design – applied to a pneumatic industrial application
Authors: Grewal, Karmjit Singh
Dixon, Roger
Goodall, Roger M.
Pearson, John T.
Keywords: Fault detection
Parity equation
Kalman filter
Stewart-Gough platform
Issue Date: 2010
Publisher: © IFAC
Citation: GREWAL, K.S. ... et al, 2010. Model-based fault detection and control design – applied to a pneumatic industrial application. IN: Chiu, G.T.-C. and Youcef-Toumi, K. (eds.). Proceedings of 5th IFAC Symposium on Mechatronic Systems, Cambridge, USA, 13th-15th September.
Abstract: In safety critical applications it is important to detect faults that may compromise system safety and to take appropriate action. 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. 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.
Description: This is a conference paper. It was presented at 2010 IFAC Symposium on Mechatronic Systems [© IFAC]. The definitive version is available at: http://dx.doi.org/10.3182/20100913-3-US-2015.00093
Version: Accepted for publication
DOI: 10.3182/20100913-3-US-2015.00093
URI: https://dspace.lboro.ac.uk/2134/6604
Publisher Link: https://engineering.purdue.edu/IFACMech10/
ISBN: 9783902661760
Appears in Collections:Conference Papers and Presentations (Mechanical, Electrical and Manufacturing Engineering)

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