LEAKAGE FAULT DETECTION IN HYDRAULIC ACTUATORS SUBJECT TO UNKNOWN EXTERNAL LOADING

Authors

  • Liang An Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, MB, Canada R3T 5V6
  • Nariman Sepehri Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, MB, Canada R3T 5V6

Keywords:

fault detection and isolation, extended kalman filtering, leakage, hydraulic actuators, friction, environmental interaction.

Abstract

This paper describes development and experimental evaluation of a hydraulic actuator leakage fault detector based on the extended Kalman filtering (EKF). Identification of external leakage at either side of the actuator as well as the internal leakage between the two chambers is examined. The present work is built upon previous work by the authors, but incorporates a significant improvement in that the new scheme is capable of detecting leakage faults for actuators that are also subject to unknown loading and/or significant friction. Experiments on a laboratory-based hydraulic actuator, using both structured (sinusoidal) and unstructured (pseudorandom) test signals show that: (i) under normal (nofault) operating condition, the EKF-based state estimator closely predicts the states of the system and the external load, including actuator friction, using only a few measurements, (ii) in the presence of leakage faults, the level of residual errors between the estimated and the measured line pressures increase indicating the occurrence of faults and (iii), different leakage fault types and levels can be identified by tracking the pattern of the residual errors and without a need to model leakage faults. The present work lays a foundation for developing on-line leakage monitoring systems for hydraulic actuators.

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Author Biographies

Liang An, Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, MB, Canada R3T 5V6

Liang An received B.Sc. in Automation Engineering from the Zhengzhou Institute of Technology in 1993, M.Sc. in Control Engineering from the Beijing University of Chemical Technology in 1999, Ph.D. in fluid power systems and diagnosis from the University of Manitoba in 2007. He is currently with the Can-K Artificial Lift Systems Inc., Edmonton, Canada.

Nariman Sepehri, Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, MB, Canada R3T 5V6

Nariman Sepehri is a professor with the Department of Mechanical and Manufacturing Engineering, at the University of Manitoba. He received M.Sc. and Ph.D. both from the University of British Columbia. His areas of interest include telerobotics applied to hydraulic manipulators and fluid power fault tolerant control and diagnosis systems.

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Published

2008-08-01

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