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Now showing items 1 - 13 of 13

  • Backlash phenomenon observation and identification in electromechanical system

    R. Merzouki   J.A. Davila   L. Fridman    J.C. Cadiou  

    In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As a consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development.
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  • Backlash phenomenon observation and identification in electromechanical system

    R. Merzouki   J.A. Davila   L. Fridman   J.C. Cadiou  

    In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As a consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development.
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  • Estimation of backlash phenomenon in the electromechanical actuator

    R. Merzouki   J.C. Cadiou  

    In this paper an adaptive control is developed, based on an estimation of the disturbing torque transmitted inside the dead zone of an electromechanical system. Disturbing backlash torque is modelled by a continuous and derivable mathematical function describing an opposite of sigmoid function. Then, nonlinear observer of dead zone amplitude is synthesized. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical demonstrations. [All rights reserved Elsevier]
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  • Modelling and estimation of tire–road longitudinal impact efforts using bond graph approach

    R. Merzouki   B. Ould-Bouamama   M.A. Djeziri   M. Bouteldja  

    Tire-road interface dynamics is due to the interaction of several physical phenomena (mechanical, thermal, hydrodynamic, etc.). Modelling of such a system needs a unified approach to represent the nonlinear behavior model in a generic and systematic way. Bond graph modelling is well suited for this task. The developed model allows to estimate the longitudinal impact forces at tire-road contact in interaction with its environment. A simulation model in modular and hierarchical form is developed in Symbols 2000 software and used for model integration and validation. Finally, comparison with experimental results are presented. [All rights reserved Elsevier].
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  • Modelling and estimation of tire–road longitudinal impact efforts using bond graph approach

    R. Merzouki   B. Ould-Bouamama   M.A. Djeziri    M. Bouteldja  

    Tire–road interface dynamics is due to the interaction of several physical phenomena (mechanical, thermal, hydrodynamic, etc.). Modelling of such a system needs a unified approach to represent the nonlinear behavior model in a generic and systematic way. Bond graph modelling is well suited for this task. The developed model allows to estimate the longitudinal impact forces at tire–road contact in interaction with its environment. A simulation model in modular and hierarchical form is developed in Symbols 2000 software and used for model integration and validation. Finally, comparison with experimental results are presented.
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  • Hybrid fault diagnosis for telerobotics system

    R. Merzouki   K. Fawaz   B. Ould-Bouamama  

    Fault detection and isolation (FDI) of a class of networked control systems (NCS), applied for telerobotics system is studied in this paper. The considered NCS application is related to telerobotics system, where it is modelled with a hybrid manner, by including the continuous, discrete, uncertain, and stochastic aspects of all the system components. The main considered components of the NCS namely the network system and controlled system are completely decoupled according to their operation characteristics. The network part is taken as a discrete and stochastic system in presence of non-structured uncertainties and external faults, while the controlled part is considered as a continuous system in presence of input and output faults. Two model based fault diagnosis approaches are proposed in this paper. The first concerns a discrete and stochastic observer applied to the network system in order to detect and isolate system faults in presence of induced delay on the network part. The second is based on the analytical redundancy relations (ARR) allows detecting and isolating the input and output system' faults. Experimental results applied on telerobotics system, show the performance and the limit of the proposed fault diagnosis approach. [All rights reserved Elsevier].
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  • Hybrid fault diagnosis for telerobotics system

    R. Merzouki   K. Fawaz   B. Ould-Bouamama  

    Fault detection and isolation (FDI) of a class of networked control systems (NCS), applied for telerobotics system is studied in this paper. The considered NCS application is related to telerobotics system, where it is modelled with a hybrid manner, by including the continuous, discrete, uncertain, and stochastic aspects of all the system components. The main considered components of the NCS namely the network system and controlled system are completely decoupled according to their operation characteristics. The network part is taken as a discrete and stochastic system in presence of non-structured uncertainties and external faults, while the controlled part is considered as a continuous system in presence of input and output faults. Two model based fault diagnosis approaches are proposed in this paper. The first concerns a discrete and stochastic observer applied to the network system in order to detect and isolate system faults in presence of induced delay on the network part. The second is based on the analytical redundancy relations (ARR) allows detecting and isolating the input and output system’ faults. Experimental results applied on telerobotics system, show the performance and the limit of the proposed fault diagnosis approach.
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  • Backlash fault detection in mechatronic system

    R. Merzouki   K. Medjaher   M.A. Djeziri   B. Ould-Bouamama  

    In this paper, a fault detection and isolation model based method for backlash phenomenon is presented. The aim of this contribution is to be able to detect then distinguish the undesirable backlash from the useful one inside an electromechanical test bench. The dynamic model of the real system is derived, using the bond graph approach, motivated by the multi-energy domain of such mechatronic system. The innovation interest of the use of the bond graph tool, resides in the exploitation of one language representation for modelling and monitoring the system with presence of mechanical faults. Fault indicators are deduced from the analytical model and used to detect and isolate undesirable backlash fault, including the physical system. Simulation and experimental tests are done on electromechanical test bench which consists of a DC motor carrying a mechanical load, through a reducer part containing a backlash phenomenon. [All rights reserved Elsevier].
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  • Backlash fault detection in mechatronic system

    R. Merzouki   K. Medjaher   M.A. Djeziri    B. Ould-Bouamama  

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  • Nonlinear H[infinity]-Output Regulation of a Nonminimum Phase Servomechanism With Backla

    L. T. Aguilar   Y. Orlov   J. C. Cadiou   R. Merzouki  

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  • Graphical methods for diagnosis of dynamic systems: Review

    B. Ould Bouamama   G. Biswas   R. Loureiro   R. Merzouki  

    Abstract This paper presents an overview of graphical methods used for robust Fault Detection and Isolation (FDI) that can be employed for monitorability and diagnosability analysis and/or online diagnosis of dynamic systems. We review the modeling approaches used by the different methods, and then study properties, such as detectability, isolability, and robustness of each one of the methods. The different properties of each method are reviewed in the paper.
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  • Robust Fault Diagnosis by Using Bond Graph Approach

    G. Dauphin-Tanguy   B.O. Bouamama   R. Merzouki   M.A. Djeziri  

    This paper deals with the generation of fault indicators and residual thresholds in the presence of parameter uncertainties by using a bond graph representation in linear fractional transformation (LFT) form. The residuals' sensitivity analysis; which is based on the fault detectability indexes; is used for residuals evaluation. The developed algorithms are applied on an electromechanical test bench system for on-line fault detection and isolation. Simulation and experimental tests show the influence of dead zone magnitude and variations of system parameters on the residuals.
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  • Model Based Fault Detection of Backlash in Mechatronic Test Bench

    K. Medjaher   R. Merzouki   B. Ould-Bouamama  

    This paper deals with a model based fault detection and isolation of backlash phenomenon. The dynamic model of the electromechanical system is derived by using the bond graph tool. The innovation interest of this contribution is the use of one representation language for modelling and monitoring the system with presence of backlash. Fault indicators are deduced from the analytical model and used in order to detect and isolate possible faults on the physical system including undesirable backlash. Simulation tests are done on an electromechanical test bench which consists of a DC motor carrying a mechanical load and including a backlash phenomenon.
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