Condition monitoring of hydraulic systems is an area that has grown
substantially in the last few decades. This thesis presents a scheme that
automatically generates the fault symptoms by on-line processing of raw sensor data
from a real test rig. The main purposes of implementing condition monitoring in
hydraulic systems are to increase productivity, decrease maintenance costs and
increase safety. Since such systems are widely used in industry and becoming more
complex in function, reliability of the systems must be supported by an efficient
monitoring and maintenance scheme.
This work proposes an accurate state space model together with a novel
model-based fault diagnosis methodology. The test rig has been fabricated in the
Process Automation and Robotics Laboratory at UBC. First, a state space model of
the system is derived. The parameters of the model are obtained through either
experiments or direct measurements and manufacturer specifications. To validate the
model, the simulated and measured states are compared. The results show that under
normal operating conditions the simulation program and real system produce similar
state trajectories.
For the validated model, a condition monitoring scheme based on the
Unscented Kalman Filter (UKF) is developed. In simulations, both measurement and
process noises are considered. The results show that the algorithm estimates the
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system states with acceptable residual errors. Therefore, the structure is verified to
be employed as the fault diagnosis scheme.
Five types of faults are investigated in this thesis: loss of load, dynamic
friction load, the internal leakage between the two hydraulic cylinder chambers, and
the external leakage at either side of the actuator. Also, for each leakage scenario,
three levels of leakage are investigated in the tests. The developed UKF-based fault
monitoring scheme is tested on the practical system while different fault scenarios
are singly introduced to the system. A sinusoidal reference signal is used for the
actuator displacement. To diagnose the occurred fault in real time, three criteria,
namely residual moving average of the errors, chamber pressures, and actuator
characteristics, are considered. Based on the presented experimental results and
discussions, the proposed scheme can accurately diagnose the occurred faults.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:BVAU.2429/206 |
| Date | 05 1900 |
| Creators | Sepasi, Mohammad |
| Publisher | University of British Columbia |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
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