Actuator fault and abnormal operation diagnoses for auto-balancing two-wheeled cart control

Mi-Ching Tsai, Jia Sheng Hu, Feng Rung Hu

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper employs a PI observer to detect abnormal information in an auto-balancing two-wheeled cart caused by actuator faults and steering load torques. A fault diagnosis scheme which contains the strategies of both fault-detection and fault-evaluation is proposed in this paper. Analysis and design of the PI observer are then discussed in detail. A statistical threshold that has the benefits of improving decision-making reliability is investigated for diagnosing a possible abnormal operation and/or a serious actuator malfunction. Illustrated examples are given for evaluating the performance and feasibility of the presented fault diagnosis strategy.

Original languageEnglish
Pages (from-to)647-655
Number of pages9
JournalMechatronics
Volume19
Issue number5
DOIs
Publication statusPublished - 2009 Aug 1

Fingerprint

Failure analysis
Actuators
Fault detection
Loads (forces)
Torque
Decision making

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Tsai, Mi-Ching ; Hu, Jia Sheng ; Hu, Feng Rung. / Actuator fault and abnormal operation diagnoses for auto-balancing two-wheeled cart control. In: Mechatronics. 2009 ; Vol. 19, No. 5. pp. 647-655.
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Actuator fault and abnormal operation diagnoses for auto-balancing two-wheeled cart control. / Tsai, Mi-Ching; Hu, Jia Sheng; Hu, Feng Rung.

In: Mechatronics, Vol. 19, No. 5, 01.08.2009, p. 647-655.

Research output: Contribution to journalArticle

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