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Fault diagnosis and prognosis of a hydro-motor drive system using priority valve

  • Sujit Kumar
  • Kabir Dasgupta
  • Sanjoy K. GhoshalEmail author
Technical Paper
  • 24 Downloads

Abstract

In this article, an improved fault isolation in the model-based fault detection and isolation (FDI) method is presented using parallely computed bond graph models. All component faults in a system may not be uniquely isolable. However, some faulty parameters’ subspaces may be identified. One of the possible solutions as proposed in this article is to estimate parameters from the actual performance of the plant assuming a single fault hypothesis. Then incorporating the estimated values, all the parallel models are run on a single-core processor and their responses are compared with the healthy plant to identify the actual fault. In this respect, a typical hydro-motor drive system is considered for the FDI analysis, where a stable source of flow is supplied through a priority flow divider valve to two hydro-motors. A methodology for parametric fault isolation under single fault assumption with minimum measurements is discussed. Such method is capable to estimate the remaining useful life (RUL) of the faulty components of a system. The proposed methodology used for identifying the fault and estimating the RUL is simple enough to adopt it in industrial practices.

Keywords

Priority valve Bond graph Hydro-motor Priority flow Bypass flow Fault detection and isolation (FDI) Analytical redundancy relation (ARR) Diagnostic bond graph (DBG) Fault signature matrix (FSM) Remaining useful life (RUL) 

List of symbols

Asp

Area of the valve spindle toward the main port

Abp

Area of the valve spindle toward the bypass port

Apr

Area of the valve spindle toward the priority port

βf

Generalized bulk modulus of the fluid

Dm1

Motor displacement rate of hydro-motor HM1

Dm2

Motor displacement rate of hydro-motor HM2

Dp

Volume displacement rate of loading pump

C

Single-port energy storage capacitive elements

dbp

Diameter of the bypass port

dpr

Diameter of the priority port

Fsp

Stopper reaction force on the valve spindle

Fff

Flow force on the valve spindle

I

Single-port energy storage inertial element

Jld1

Load inertia connected with hydro-motor HM1

Jld2

Load inertia connected with hydro-motor HM2

Kstf

Stiffness of the fluid at the respective plenum

Ksp

Valve spring stiffness

Ks

Bulk stiffness of the fluid at the pump plenum

Kvp

Bulk stiffness of the fluid at the valve plenum

Kbp

Bulk stiffness of the fluid at the plenum of the bypass port

Kpr

Bulk stiffness of the fluid at the plenum of the priority port

Km1

Bulk stiffness of the fluid at the plenum of the hydro-motor HM1

Km2

Bulk stiffness of the fluid at the plenum of the hydro-motor HM2

Ka

Generalized bulk stiffness of the fluid

Mld1

Angular momentum of the load connected with hydro-motor HM1

Mld2

Angular momentum of the load connected with hydro-motor HM2

Ps

Supply pressure

Pvp

Pressure at the valve inlet port

Ppr

Priority pressure

Pbp

Bypass pressure

Fisp

Force due to inertia of valve spindle

Pvp

Pressure on the valve spindle

\(\Delta P_{\text{ct}}\)

Critical pressure difference across the valve port

Pm1

Inlet pressure of hydro-motor HM1

Pm2

Inlet pressure of hydro-motor HM2

Rpr

Resistance of the priority port of the valve

Rbp

Resistance of the bypass port of the valve

Rlp

Pump leakage resistance

\(R_{\text{ld1}}\)

Load resistance of hydro-motor HM1

\(R_{\text{ld2}}\)

Load resistance of hydro-motor HM2

Rlm1

Leakage resistance of the hydro-motor HM1

Rlm2

Leakage resistance of the hydro-motor HM2

Rsp

Valve spindle damping coefficient

R

Single-port energy storage resistive elements

SF

Single-port element that indicates source of flow

SE

Single-port element that indicates source of effort

TF

Two-port element that converts rotational speed into volume displacement rate and vice versa

\(\dot{V}_{\text{cvp}}\)

Compressibility flow loss at the valve plenum

\(\dot{V}_{\text{cpr}}\)

Compressibility flow loss at the priority port plenum

\(\dot{V}_{\text{cbp}}\)

Compressibility flow loss at the bypass port plenum

\(\dot{V}_{\text{lm}}\)

Leakage flow of the hydro-motor

\(\dot{V}_{\text{lp}}\)

Pump leakage

\(\dot{V}_{\text{cs}}\)

Compressibility flow loss at supply plenum

\(\dot{V}_{\text{s}}\)

Pump supply

\(\dot{V}_{\text{pr}}\)

Priority flow

\(\dot{V}_{\text{pb}}\)

Bypass flow

\(\dot{V}_{\ln 1}\)

Flow through the line connecting the priority port with plenum of the hydro-motor HM1

\(\dot{V}_{\ln 2}\)

Flow through the line connecting the bypass port with plenum of the hydro-motor HM2

\(\dot{V}_{\text{cm1}}\)

Compressibility flow loss at the plenum of the hydro-motor HM1

\(\dot{V}_{\text{cm2}}\)

Compressibility flow loss at the plenum of the hydro-motor HM2

\(\dot{V}_{\text{m1}}\)

Inlet flow of the hydro-motor HM1

\(\dot{V}_{\text{m2}}\)

Inlet flow of the hydro-motor HM2

\(\dot{V}_{\text{lm1}}\)

Leakage flow from the plenum of hydro-motor HM1

\(\dot{V}_{\text{lm2}}\)

Leakage flow from the plenum of hydro-motor HM2

\(\dot{V}_{\text{mo1}}\)

Outlet flow of the hydro-motor HM1

\(\dot{V}_{\text{mo2}}\)

Outlet flow of the hydro-motor HM2

Va

Generalized specific volume

ωm

Generalized speed of the hydro-motor

ωm1

Speed of hydro-motor HM1

ωm2

Speed of hydro-motor HM2

0

Common effort junctions in bond graph model

1

Common flow junction in bond graph model

·

It indicates the time derivative of the variable

Notes

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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  • Sujit Kumar
    • 1
  • Kabir Dasgupta
    • 1
  • Sanjoy K. Ghoshal
    • 2
    Email author
  1. 1.Department of Mining Machinery EngineeringIndian Institute of Technology (Indian School of Mines)DhanbadIndia
  2. 2.Department of Mechanical EngineeringIndian Institute of Technology (Indian School of Mines)DhanbadIndia

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