A REVIEW OF OBSERVER-BASED FAULT DETECTION AND ISOLATION FOR MECHATRONIC SYSTEMS
Authors/Creators
- 1. University of Birmingham BEng Mechatronic and Robotic Engineering, Year Three
- 2. Worldly Knowledge Publishing Centre
Description
Observer-based fault detection and isolation (FDI) exploits the analytical redundancy in a dynamic model of a plant to detect faults without additional hardware, generating a residual that departs from zero only when a fault occurs. This review consolidates the observer-based FDI literature for mechatronic systems, analysing methods within a single state-space fault model to enable direct comparison across notations. The fault detection filter, diagnostic observer, Kalman innovation filter and parity space method are shown to be alternative parameterisations of one residual generator. The central difficulty is the conflict between fault sensitivity and robustness to disturbance and model uncertainty: exact decoupling via unknown input observers is bounded by a rank condition on the sensor set, while approximate decoupling trades that guarantee for generality. An analytical case study on a two-mass servo drive shows that a single rank test determines what any design can achieve. Validation practice remains the field's weakest point.
Files
53-61.pdf
Additional details
References
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