Adaptive Fault Detection and Isolation for DC Motor Input and Sensors

: The paper is devoted to the development of an adaptive approach to the fault detection and isolation of input and sensor failures of armature-controlled direct current motors. The proposed detection method is based on the full state Luenberger observer. Isolation scheme uses the directional residual set and relationships between fault directions and residual vector. Adaptability is provided by dynamic regressor extension and mixing approach for online estimation of parameters. Proposed scheme allows to isolate following faults: unaccounted load acting on the rotor, input voltage disturbance, failures of velocity and current sensors. Simulation results confirm performance of the proposed approach.