Development and Evaluation of a Sliding Mode Observer-based Sensor Fault Reconstruction Algorithm for DC Motors

Abstract

This paper presents a sensor fault reconstruction algorithm for DC motors using a sliding mode observer. The sliding mode observer was designed through modeling the DC motor dynamics with actual system parameters and applying a linear transformation matrix for state transformation. In the designed observer, a discrete injection term was considered to achieve asymptotic stability of the error dynamics. Evaluations were conducted using an actual DC motor test platform to validate the performance of the proposed fault reconstruction algorithm. Evaluation results show that the developed algorithm can reconstruct a sensor fault signal to represent an actual fault signal with small errors. Keywords-sliding mode observer; voltage sensor fault; injection term; DC motor; fault reconstruction