MECHANICS
Technical Diagnostics of the Durability of Machines and Equipment
DOI.org/10.5281/zenodo.1119155
Zhirabok A., Yatcenko N., Filatov A., Pavlov S.
ALEXEY ZHIRABOK, Doctor of Engineering Sciences, Professor, e-mail: zhirabok@mail.ru
NIKOLAI YATCENKO, Master’s Degree Student, e-mail: n.iatcenko@gmail.com
ARTUR FILATOV, Engineer, e-mail: gryphon1@bk.ru
SERGEI PAVLOV, Graduate Student, e-mail: egoist@vladivostok.com
Department of Automation and Control, School of Engineering
Far Eastern Federal University
8 Sukhanova St., Vladivostok, Russia, 690091
Diagnosis in mechatronic systems by nonparametric method based on logic‑dynamic approach
Abstract: The article is concerned with the mechatronic systems described by nonlinear dynamic models to be functionally diagnosed by non-parametric methods based on the logic-dynamic approach. The peculiarity of the mechatronic systems is that their mathematical models contain such non-smooth nonlinearities as backlash, saturation, and Coulomb friction reflecting real physical processes in these systems. The feature of the non-parametric methods is that, in the course of diagnostic process, the values of some parameters (in the linear case, all of them) may be unknown, but deviations from their values are registered by the diagnostic system. The logic-dynamic approach has been developed to diagnose nonlinear systems which contain non-smooth nonlinearities. The diagnosis based on this approach is carried out in two phases. The first one is the linear solution of the problem which is then supplemented by the nonlinear term. The peculiarity of the logic-dynamic approach is that it uses the methods of linear algebra only thus avoiding the use of the methods of differential geometry and complex analytical mathematical packages. The article presents the obtained theoretical relevances enabling one to create diagnostic devices by simple engineering methods. To check the obtained theoretical results, there has been considered a practical example of diagnosing an important element of the mechatronic systems: the electric servo actuator. A simulation procedure was performed from which diagrams have been obtained demonstrating the efficiency of the proposed algorithms.
Key words: mechatronic systems, non-smooth nonlinearities, faults, diagnosis, non-parametric methods.
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