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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/6615

Title: Model-based fault detection and control design – applied to a pneumatic Stewart-Gough platform
Authors: Grewal, Karmjit Singh
Dixon, Roger
Pearson, John T.
Keywords: Fault detection modelling
Parity equation
Kalman filter
Stewart-Gough platform
Issue Date: 2010
Publisher: © International Conference and Exhibition on New Actuators and Drive Systems
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.
Abstract: 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.
Description: This is a conference paper
Version: Accepted for publication
URI: https://dspace.lboro.ac.uk/2134/6615
Publisher Link: http://www.actuator.de/templ_act_en_10.php
Appears in Collections:Conference Papers and Presentations (Mechanical, Electrical and Manufacturing Engineering)

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