Effective model based fault detection scheme for rudder servo system  

作　　者：徐巧宁 周华 喻峰 魏兴乔 杨华勇 

机构地区：[1]State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University) [2]China Shipbuilding Industry Corporation (CSIC) 707 Institute

出　　处：《Journal of Central South University》2014年第11期4172-4183,共12页中南大学学报（英文版）

基　　金：Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China;Project(51175453)supported by the National Natural Science Foundation of China

摘　　要：The inherent nonlinearities of the rudder servo system(RSS) and the unknown external disturbances bring great challenges to the practical application of fault detection technology. Modeling of whole rudder system is a challenging and difficult task. Quite often, models are too inaccurate, especially in transient stages. In model based fault detection, these inaccuracies might cause wrong actions. An effective approach, which combines nonlinear unknown input observer(NUIO) with an adaptive threshold, is proposed. NUIO can estimate the states of RSS asymptotically without any knowledge of external disturbance. An adaptive threshold is used for decision making which helps to reduce the influence of model uncertainty. Actuator and sensor faults that occur in RSS are considered both by simulation and experimental tests. The observer performance, robustness and fault detection capability are verified. Simulation and experimental results show that the proposed fault detection scheme is efficient and can be used for on-line fault detection.The inherent nonlinearities of the rudder servo system（RSS） and the unknown external disturbances bring great challenges to the practical application of fault detection technology. Modeling of whole rudder system is a challenging and difficult task. Quite often, models are too inaccurate, especially in transient stages. In model based fault detection, these inaccuracies might cause wrong actions. An effective approach, which combines nonlinear unknown input observer（NUIO） with an adaptive threshold, is proposed. NUIO can estimate the states of RSS asymptotically without any knowledge of external disturbance. An adaptive threshold is used for decision making which helps to reduce the influence of model uncertainty. Actuator and sensor faults that occur in RSS are considered both by simulation and experimental tests. The observer performance, robustness and fault detection capability are verified. Simulation and experimental results show that the proposed fault detection scheme is efficient and can be used for on-line fault detection.

关 键 词：rudder servo system fault detection nonlinear unknown input observer adaptive threshold 

分 类 号：U672[交通运输工程—船舶及航道工程] U664.41[交通运输工程—船舶与海洋工程]