Observer-Based Fault Detection for A Dual-Motor Driving Servo System

In this paper, the problem of fault detection for a dual-motor driving servo system is investigated. The dual-motor driving servo system is modeled as a linear system with disturbances, and the actuator and sensor faults are both considered. Based on the system model, an observer-based fault detection scheme which consists of a residual generator and a residual evaluator is proposed. An optimal residual generator based on the H-infinity/H-infinity index is designed to guarantee a suitable trade-off between sensitivity to faults and robustness against disturbances, and then the residual evaluator including a norm-based residual evaluation function and a threshold is presented to detect the occurrence of faults. Simulation results illustrate the effectiveness and applicability of the proposed method.