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Nonlinear Geometric Approach to Fault Detection in Mechanical Systems

Mashreghi, Ali | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47606 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. The demand for safety operating systems is growing with the new developments in technology. One of the important and critical issues in system monitoring is the capability of the system to detect probable faults and hazards. In model-based fault detection one specific diagnostic signal called residual should be generated for each fault that is only sensitive to a particular fault and independent of other faults and disturbances. In this thesis we try to investigate the nonlinear geometric approach in fault detection of a class of mechanical systems. After a brief introduction to geometric tool for nonlinear inputaffine systems and conditions in which output is decoupled from input, we exploit geometric tool for a class of one-degree of freedom mechanical systems where we augment virtual state to the original system and obtain sufficient and necessary conditions for dependency of residual to fault and independency of residual to disturbance by a combination of distribution and codistribution algorithm. Simulation results show the validity of theory. Motivating by this achievement with the same approach we obtain sufficient conditions for actuator fault detection and isolation ina class of n-degree of freedom mechanical systemsin presence of disturbance in links dynamics and propose step-by-step algorithm. The proposed conditions and algorithm is general in a sense that it can be exploited for all nonlinear inputaffine systems with different faults and disturbances. In the last section results for exploiting the introduced algorithm on a three-link cylindrical robot manipulator with hydraulic actuators is indicated
  9. Keywords:
  10. Fault Detection ; Nonlinear System ; Turbulence ; Uncertainty ; Geometric Approach ; Mechanical System ; Input Affine Systems

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