A WAVELET-BASED APPROACH FOR ONLINE EXTERNAL LEAKAGE DIAGNOSIS AND ISOLATION FROM INTERNAL LEAKAGE IN HYDRAULIC ACTUATORS

Authors

  • Amin Yazdanpanah Goharrizi Fluid Power Research Laboratory Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada
  • Nariman Sepehri Fluid Power Research Laboratory Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada
  • Yan Wu Department of Mathematical Sciences, Georgia Southern University, Statesboro, GA, USA

Keywords:

hydraulic actuators, external/internal leakage, on-line fault detection, wavelet analysis

Abstract

This paper presents experimental evaluation of applying wavelet transform for on-line external leakage fault detection and isolation from internal leakage in hydraulic actuators. In this work, the more realistic case of an actuator that is driven to track pseudorandom position reference inputs against a load is considered. The wavelet-based method developed in this paper, decomposes a limited-duration pressure signal at either chamber of a hydraulic actuator into effective approximate and detail wavelet coefficients. The limited-duration pressure signal is collected using a sliding window technique. It is shown that the root mean square (RMS) value of the level four approximate wavelet coefficient collectively establishes a feature index that can effectively be used for on-line detection of external leakage. Once the external leakage occurs, this index value decreases proportionally. Therefore, one can report the faulty perating condition by monitoring this index. Additionally, built upon the previous work in which the level two detail coefficient was found to be sensitive to internal leakage fault, we further investigate the isolation of external leakage from internal leakage in an actuator. Extensive validation tests demonstrate the effectiveness of the proposed technique, given any position reference input, loading condition, and controller type or effectiveness. Experimental tests show promising results for detecting external leakage as low as 0.3 L/min and isolating it from internal leakage as low as 0.48 L/min, during an on-line testing procedure.

Downloads

Download data is not yet available.

Author Biographies

Amin Yazdanpanah Goharrizi, Fluid Power Research Laboratory Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada

Amin Yazdanpanah Goharrizi received the B.S. degree from Amirkabir University of Technology, Tehran, Iran, in 2003, and the M.Sc. degree from Khajeh Nasir University, Tehran, Iran, in 2005. He is currently a Ph.D. student at the University of Manitoba, Canada. His current research interests include fault detection, signal processing and control systems.

Nariman Sepehri, Fluid Power Research Laboratory Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada

Nariman Sepehri is a professor with the Department of Mechanical and Manufacturing Engineering, at the University of Manitoba, Canada. He received M.Sc. and Ph.D. degrees from the University of British Columbia, Canada. His research and development activities are primarily centered in all fluid power related aspects of systems, manipulation, diagnosis and control. He has developed undergraduate courses on “Mechatronics Systems Design”, and “Industrial Process Control” as well as graduate-level courses on “Systems Design for Robots and Teleoperators Systems” and “ Modeling and Simulations”

Yan Wu, Department of Mathematical Sciences, Georgia Southern University, Statesboro, GA, USA

Yan Wu received his B.S. degree in Mathematics and Computer Science from Beijing University of Technology, the M.S. degree in Applied Mathematics and Ph.D. in Applied Mathematics and Electrical Engineering from University of Akron, in 1992, 1996, and 2000, respectively. In 2000, he joined the Department of Mathematical Sciences at Georgia Southern University , where he currently is an Associate Professor. His research interests include adaptive control, decentralized control, sampling theory, digital filter design, and speech/image processing. He is an Associate Editor of three journals in mathematical sciences and engineering.

References

An, L. and Sepehri, N. 2005. Hydraulic actuator leakage

fault detection using extended Kalman Filter.

Int. Journal of Fluid Power, Vol. 6, pp. 41 - 51.

An, L. and Sepehri, N. 2008. Leakage fault detection

in hydraulic actuators subjected to unknown external

loading. Int. Journal of Fluid Power, Vol. 9, pp.

- 25.

Anant, K. S. 1997. Wavelet transform analysis of transient

signals: The Seismogram and the Electrocardiogram.

Ph.D. Thesis, University of California.

Daubechies, I. 1992. Ten lectures on wavelets. Society

of Industrial and Applied Mathematics, Philadelphia.

Gao, Y., Zhang, Q. and Kong, X. 2003. Wavelet

based pressure analysis for hydraulic pump health

diagnosis. Trans. ASAE, Vol. 46, pp. 969 - 976.

Gao, Y., Zhang, Q. and Kong, X. 2005. Comparison

of hydraulic pump fault diagnosis methods: wavelet

vs. spectral analysis. Proceedings, ASME International

Mechanical Engineering Congress and Exposition,

pp. 73 - 78.

Gao, Y. and Zhang, Q. 2006. A wavelet packet and

residual analysis based method for hydraulic pump

health diagnosis. Proc. IMechE, vol. 220, pp. 735 -

Goharrizi, A. Y. and Sepehri, N. 2010a. A waveletbased

approach to internal seal damage diagnosis in

hydraulic actuators. IEEE Trans. on Ind. Electron.,

vol. 57, no. 5, pp. 1755 - 1762.

Goharrizi, A. Y. and Sepehri, N. 2010c. Application

of Fourier Transform for Actuator Leakage Diagnosis.

ASME Symposium on Fluid Power & Motion

Control, Bath, UK.

Goharrizi, A. Y. and Sepehri, N. 2011. A waveletbased

approach for external leakage detection and

isolation from internal leakage in valve-controlled

hydraulic actuators. IEEE Trans. on Ind. Electron,

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber

=5645681.

Goharrizi, A. Y., Sepehri, N. and Wu, Y. 2009. Internal

leakage diagnosis in hydraulic actuators using

wavelet transform. Proceedings, Joint Dynamic

Systems and Control Conference, and Bath/ASME

Symposium on Fluid power and Motion Control,

Hollywood, USA.

Goharrizi, A.Y., Sepehri, N. and Wu, Y. 2010b. A

wavelet based approach for diagnosis of internal

leakage in hydraulic actuators using on-line measurements.

Int. Journal of Fluid Power, vol. 11,

no.1, pp. 61 - 69.

Garimella, P. and Yao, B. 2005. Model-based fault

detection of an electro-hydraulic cylinder. American

Control Conference, pp. 484 - 489.

Isermann, R. 1996. On the design and control of

mechatronic systems - A survey. IEEE Trans. Ind.

Electron., Vol. 43, pp. 4 - 15.

Karpenko, M. and Sepehri, N. 2010. Quantitative

fault tolerant control design for a hydraulic actuator

with a leaking piston seal. ASME Journal of Dynamic

Systems, Measurement, and Control, Vol.

, No. 5.

Karpenko, M. and Sepehri, N. 2003. Robust position

control of an electrohydraulic actuator with a faulty

actuator piston seal. ASME J. of Dynamic Systems,

Measurements and Control, Vol. 125, pp. 413 -

Khan, H., Abou, S. and Sepehri, N. 2002. Fault detection

in electro-hydraulic servo-positioning systems

using sequential test of Wald. Proceedings, Canadian

conference on electrical & Computer Engineering,

pp. 1628 - 1633.Le, T. T., Watton, J. and Pham, D. T. 1997. Fault

classification of fluid power systems using a dynamics

feature extraction technique and neural networks,

Proc. Instn Mech Engrs, Vol. 212, Part I,

pp. 87 - 96.

Mallat, S. 1998. A wavelet tour of signal processing.

Academic press.

Mallat, S. 1989. A theory for multiresolution signal

decomposition: The wavelet representation. IEEE

Trans. Pattern Analysis and Machine Intelligence,

Vol. 11, pp. 674 - 693.Nguyen, L. T., Ogburn, M. E., Gilbert, W. P.,

Kibler, K. S., Brown, P. W. and Deal, P. L. 1979.

Simulation study of stall/post-stall characteristics of

a fighter airplane with relaxed static stability. NASA

Langley Research Center, Hampton, VA, Tech.

Rep. NASA-TP-1538.

Shi, Z., Gu, F., Lennox, B. and Ball, A. D. 2005. The

development of an adaptive threshold for modelbased

fault detection of a nonlinear electrohydraulic

system. Control Engineering Practice,

Vol. 13, pp. 1357 - 1367.

Tan, H. and Sepehri, N. 2002. Parametric fault diagnosis

for electrohydraulic cylinder drive units.

IEEE Trans. Industrial Electronics, Vol. 49, pp. 96

- 106.

Vetterli, M. and Herley, C. 1992. Wavelets and filter

banks: Theory and design. IEEE Tran. Signal Processing,

Vol. 40, pp. 2207 - 2232.

Watton, J. 2007. Modeling, monitoring and diagnostic

techniques for fluid power systems, Springer.

Zhang, J. Q. and Yan, Y. 2001. A wavelet-based approach

to abrupt fault detection and diagnosis of

Sensors. IEEE Trans. Instrumentation and Measurement,

Vol. 50, pp. 1389 - 1396.

Zhao, Q. and Xu, Z. 2004. Design of a novel knowledge-

based fault detection and isolation scheme.

IEEE Tran. on Systems, Man, and Cybernetics, Vol.

pp. 1089 - 1095.

Zavarehi, M. K., Lawrence, P. D. and Sassani, F.

Nonlinear modeling and validation of solenoid

controlled pilot-operated servovalves.

IEEE/ASME Tran. Mechatronics, vol. 4, pp. 324 -

Downloads

Published

2011-08-01

Issue

Section

Original Article

Most read articles by the same author(s)