Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

Dang, Sanlei; Kong, Zhengmin; Peng, Long; Ji, Yilin; Zhang, Yongwang

doi:10.3390/app10020514

Cited by 6 publications

(2 citation statements)

References 29 publications

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“…Creating relatively simple object-oriented digital twins will contribute to the development of smart production and the transition of the metallurgical industry towards innovations [61][62][63][64]. Virtual models required to improve automated drives and mechatronic systems, including the described adequate two-mass model, facilitate this [65][66][67].…”

Section: Discussionmentioning

confidence: 99%

Method for Defining Parameters of Electromechanical System Model as Part of Digital Twin of Rolling Mill

Gasiyarov,

Radionov,

Loginov

et al. 2023

JMMP

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Creating digital twins of industrial equipment requires the development of adequate virtual models, and the calculation of their parameters is a complex scientific and practical problem. To configure and digitally commission automated drives, two-mass electromechanical system models are used. A promising area in which to implement such models is the development of digital shadows, namely drive position observers. Connecting virtual models for online data exchange predetermines the tightening of requirements for their parameter calculation accuracy. Therefore, developing accessible techniques for calculating electromechanical system coordinates is an urgent problem. These parameters are most accurately defined by experiments. The contribution of this paper is the proposition of a method for defining the two-mass system model parameters using the oscillograms obtained in the operating and emergency modes. The method is developed for the horizontal stand drives of a plate mill 5000 and is supported by numerical examples. The technique is universal and comprises calculating the rotating mass inertia torques, elastic stiffness and oscillation damping coefficients, and the time constants of the motor air gap torque control loop. The obtained results have been applied to the development of the elastic torque observer of the rolling stand’s electromechanical system. A satisfactory coordinate recovery accuracy has been approved for both open and closed angular gaps in mechanical joints. Recommendations are given for the use of the method in developing process parameter control algorithms based on automated drive position observers. This contributes to the development of the theory and practice of building digital control systems and the implementation of the Industry 4.0 concept in industrial companies.

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Section: Discussionmentioning

confidence: 99%

Method for Defining Parameters of Electromechanical System Model as Part of Digital Twin of Rolling Mill

Gasiyarov,

Radionov,

Loginov

et al. 2023

JMMP

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show abstract

“…To do this, the authors use methods based on artificial intelligence. Application of fault detection techniques to hydraulic systems and manipulator robots are presented in [16,17], respectively. In [18] provides a fault detection method and a fault tolerance control mechanism for a quadrotor to achieve a safe flight even when a single rotor is damaged.…”

Section: Introductionmentioning

confidence: 99%

Fault Diagnosis for a Class of Robotic Systems with Application to 2-DOF Helicopter

et al. 2020

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This paper considers a general approach to fault diagnosis using a generalized Hamiltonian system representation. It can be considered that, in general, nonlinear systems still represent a problem in fault diagnosis because there are results only for a specific class of them. Therefore, fault diagnosis remains a challenging research area despite the maturity of some of the available results. In this work, a type of nonlinear system that admits a generalized Hamiltonian representation is considered; in practice, there are many systems that have this kind of representation. Thereupon, an approach for fault detection and isolation based on the Hamiltonian representation is proposed. First, following the classic approach, the original system is decoupled in different subsystems so that each subsystem is sensitive to one particular fault. Then, taking advantage of the structure, a simple way to design the residuals is presented. Finally, the proposed scheme is validated at the two-degree of freedom (DOF) helicopter of Quanser®, where the presence of faults in sensors and actuators were considered. The results show the efficacy of the proposed scheme.

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Adaptive Threshold Real-Time Condition Monitoring and Assessment of Unmanned Aircraft Actuator Based on Two-Stage Observer

Han

et al. 2023

Lecture Notes in Electrical Engineering

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Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

Cited by 6 publications

References 29 publications

Method for Defining Parameters of Electromechanical System Model as Part of Digital Twin of Rolling Mill

Method for Defining Parameters of Electromechanical System Model as Part of Digital Twin of Rolling Mill

Fault Diagnosis for a Class of Robotic Systems with Application to 2-DOF Helicopter

Adaptive Threshold Real-Time Condition Monitoring and Assessment of Unmanned Aircraft Actuator Based on Two-Stage Observer

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