Detecting and locating faults of an electric actuator which has been mounted

on a inverted pendulum

The system considered is an electric jack which is mounted on an inverted

pendulum. a potentiometer measures the rotating angle of the pendulum
relative to the vertical. The gain of the sensor is k? = 2.75V / rd.The electric
actuator consists of a brushless motor (type Brushless) 1, on which was
mounted a incremental encoder for measuring, via an encoder card, the linear
position of the actuator. this motor bound by the Interim a flexible coupling, a
ball screw pitch 12 mm / revolution. The nut, integral of the plunger rod is
prevented from rotating by means of the linear guide. The screw / nut

This ensures the transformation rotation / translation movement. The power

interface, input u command performs the servo speed of the electric actuator,
the speed information is developed from the pulses by the encoder.

FIGURE 1 - Electric cylinder and inverted pendulum

The linear model associated with the pendulum position is:

where xm represents the measurement of the linear position of the cylinder
and? m is the measurement of the angle of the pendulum. The vertical
stabilization of the pendulum and the enslavement of the linear position of the
cylinder are obtained:

using the following control law:

where r represents the position set point. This control law was calculated for
the nominal parameters following a = 6, b = 3, k = 0.14 and k? = 2.8. We
considered below the detection problem sensors and fault location.

Question 1

Give the model system showing the defects occurring at the sensors.

correction

The model systems including sensors faults is:

where the matrices A, B and C are those given in the statement :

Question 2

The synthesis of a conventional observer for the estimation of measured

quantities.

correction

This is the synthesis of the following observer:

where L is the observer control matrix to ensure that, in the absence of a fault,
the convergence zero of the estimation error. The characteristic polynomial of
the observer is:

Placing the three poles of the observer at -18 and posing l1 = l3 = l6 = 0, one
obtains:

Question 3

The residues are generated from the differences between the measured and
estimated. calculate the

transfer matrix connecting the sensors faults residues. Are Detectable defects.

correction

The transfer matrix connecting the sensors faults residues is:

We obtain :

Each residue is only affected by a fault. The defects are detectable. It is desired
to present, in addition to sensors faults in an actuator detect defects.

Question 4

Leave the system model showing the defects to be detected.

correction

The model systems including sensors and actuator faults is:

Question 5

The synthesis of a residue generator for detecting and locating faults.

correction

One can use for this purpose the observer calculated previously. The transfer
matrix linking defects residue is then written:
This implies that the signatures of the defects are distinct. The defects are
detectable. Will now be considered in addition to the above defects, a
component defect resulting a variation of the parameter a.

Question 6

Using the observer determined to the previous question, give the system
model making show all defects.

correction

The system model showing all the defects is written:

Question 7

Calculate the new transfer matrix linking defects to residues. correction

The tran

sfer matrix linking defects to residues is: