Fault Detection for an Electro-hydraulic Position Servo System of Vehicle-mounted Howitzer Based on Unknown Input Observer

doi:10.3969/j.issn.1000-1093.2018.11.003

Abstract

Abstract: For large inertia, load nonlinearity, parameter uncertainty and disturbance in the electro-hydraulic position servo system of vehicle-mounted howitzer, a fault detection scheme based on nonlinear unknown input observer is proposed. After modeling the system, a nonlinear observer design is utilized to generate the residual signals required for fault detection. The observer's stability is proved and its existing conditions is given by Lyapunov stability theory. The observational ability and fault detection ability of observer are detected online on a fault detection test rig. A dynamic threshold failure decision mechanism based on statistics is designed, which eliminate the false alarm of fixed threshold in transition stage. The experimental examples are investigated to demonstrate the effectiveness of the proposed fault detection scheme, which can be applied for the online fault detection of the electro-hydraulic position servo system. Key

Key words: vehicle-mountedhowitzer, electro-hydraulicpositionservosystem, faultdetection, unknowninputobserver, dynamicthreshold

CLC Number:

TJ303⁺.8

TIAN Ling-fei， QIAN Lin-fang， CHEN Long-miao， YUE Cai-cheng. Fault Detection for an Electro-hydraulic Position Servo System of Vehicle-mounted Howitzer Based on Unknown Input Observer[J]. Acta Armamentarii, 2018, 39(11): 2100-2108.

References

［1］侯保林, 樵军谋, 刘琮敏.火炮自动装填[M].北京：兵器工业出版社，2010.
HOU Bao-lin, QIAO Jun-mou, LIU Cong-min. Artillery auto-loading [M].Beijing: Publication House of Ordnance Industry, 2010.(in Chinese)

[2] 张昌凡, 彭钊, 李祥飞,等. 基于自适应观测器的鲁棒失磁故障检测方法[J].电子测量与仪器学报, 2015,29(4):508-518.
ZHANG Chang-fan, PENG Zhao, LI Xiang-fei, et al. Robust demagnetization failure detection method based on adaptive observer [J]. Journal of Electronic Measurement and Instrumentation, 2015, 29(4): 508-518.(in Chinese)
[3] Willersrud A, Blanke M, Imsland L, et al. Fault diagnosis of downhole drilling incidents using adaptive observers and statistical change detection [J]. Journal of Process Control, 2015,30:90-103.
[4] Zhang J, Swain A K, Nguang S K. Robust sliding mode observer based fault estimation for certain class of uncertain nonlinear systems [J]. Asian Journal of Control, 2015, 17(4):1296-1309.
[5] Chen F, Zhang K, Jiang B, et al. Adaptive sliding mode observer-based robust fault reconstruction for a helicopter with actuator fault[J]. Asian Journal of Control, 2016, 18(4):1558-1565.
[6] Abderrezak A, Madjid K. Sensor fault detection, localization, and system reconfiguration with a sliding mode observer and adaptive threshold of PMSM [J]. Journal of Power Electronics, 2016, 16(3): 1012-1024.
[7] 穆凌霞,余翔,李平,等.自适应广义滑模观测器之状态估计和故障重构[J].控制理论与应用, 2017, 34(4):483-490.
MU Ling-xia, YU Xiang, LI Ping, et al. State estimation and fault reconstruction from an adaptive descriptor sliding mode observer [J]. Control Theory & Applications, 2017, 34(4): 483-490.(in Chinese)
[8] Khorasgani H G, Menhaj M B, Talebi H A, et al. Neural-network-based sensor fault detection & isolation for nonlinear hybrid systems[J]. IFAC Proceedings Volumes, 2012, 45(20):1029-1034.
[9] Yuan H, Lu C, Ma J, et al. Neural network-based fault detection method for aileron actuator [J]. Applied Mathematical Modelling, 2015, 39(19):5803-5815.

[10] Talebi H A, Khorasani K. A neural network-based multiplicative actuator fault detection and isolation of nonlinear systems [J]. IEEE Transactions on Control Systems Technology, 2013, 21(3): 842-851.
[11] Chen J, Patton R J.Robust model-based fault diagnosis for dynamic systems [M]. Boston, MA，US: Kluwer Academic Publishers, 1999.
[12] Liu X, Gao X, Han J. Robust unknown input observer based fault detection for high-order multi-agent systems with distur-bances [J]. ISA Transactions, 2016，61:15-28.
[13] Xu Q N, Zhou H, Yu F, et al. Effective model based fault detection scheme for rudder servo system [J]. Journal of Central South University:English Edition, 2014, 21(11): 4172-4183.
[14] Elhsoumi A, Ali S B H, Harabi R E, et al. Unknown input fault detection and isolation observer design for neutral systems [J]. Asian Journal of Control, 2016, 18(5): 1825-1835.
[15] Ma Z, Wang S, Shi J, et al. Fault diagnosis of an intelligent hydraulic pump based on a nonlinear unknown input observer [J]. Chinese Journal of Aeronautics, 2018, 31(2): 386-396.
[16] Johansson A, Bask M, Norlander T, et al. Dynamic threshold generator for robust fault detection in linear systems with parameter uncertainty [J]. Automatica, 2006, 42(7): 1095-1106.
[17] Suárez Fábrega A J, Bravo Caro J M, Abad Herrera P J, et al. Fault detection method based on bounded error and dynamic threshold techniques [J]. International Journal of Adaptive Control & Signal Processing, 2016, 30(2): 256-270.
[18] 程昊宇,董朝阳,江未来,等.变体飞行器故障检测与容错控制一体化设计[J].兵工学报,2017, 38(4): 711-721.
CHENG Hao-yu, DONG Chao-yang, JIANG Wei-lai, et al. Integrated fault detection and fault tolerant control for morphing aircraft [J]. Acta Armamentarii, 2017, 38(4):711-721.(in Chinese)
[19] Davoodi M R, Meskin N, Khorasani K. A single dynamic observer-based module for design of simultaneous fault detection, isolation and tracking control scheme [J]. International Journal of Control, 2018,91(3):508-523.
[20] Han H, Yang Y, Li L, et al. Observer-based fault detection for uncertain nonlinear systems [J]. Journal of the Franklin Institute, 2018，355:1278-1295.
[21] Merritt H E.Hydraulic control systems [M].New York，NY，US: John Wiley & Sons, 1967.

第39卷
第11期2018 年11月兵工学报ACTA
ARMAMENTARIIVol.39No.11Nov.2018

[1]	LIU Lei, YAO Jianyong, MA Dawei, WANG Guangwen. Low-frequency Learning-based Robust Adaptive Control for Electro-hydraulic Position Servo System [J]. Acta Armamentarii, 2019, 40(4): 737-743.
[2]	SHI Xianjun, WANG Kang, HAN Xu, LONG Yufeng. Method for Determining Fault Sample Size Based on Hierarchical Bayesian Network and Posterior Risk Criteria [J]. Acta Armamentarii, 2019, 40(1): 171-181.
[3]	LI Bing-qian, DONG Wen-han, MA Xiao-shan. Back-stepping-fault-tolerant Control for Keeping the Formation of Unmanned Aerial Vehicles [J]. Acta Armamentarii, 2018, 39(11): 2172-2184.
[4]	CHENG Hao-yu, DONG Chao-yang, JIANG Wei-lai, WANG Qing, SUI Han. Integrated Fault Detection and Fault Tolerant Control for Morphing Aircraft [J]. Acta Armamentarii, 2017, 38(4): 711-721.