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Updated: Jul 3, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

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对于使用不够信息的重腿机器人,执行伺服扭矩故障诊断

Shaoxun Liu1, Shiyu Zhou1, Boyuan Li1

  • 1Shanghai Jiao Tong University, School of Mechanical Engineering, 800 Dongchuan RD. Minhang District, Shanghai, 200240, China.

ISA transactions
|February 13, 2024
PubMed
概括

本研究提出了一种新的方法来诊断重腿机器人 (HLR) 中的伺服器故障,仅使用关节位置和运动数据,减少对脆弱传感器的依赖. 该框架允许实时故障诊断,即使没有直接的伺服器输出测量.

关键词:
一个重腿机器人.信息不足 信息不足 信息不足剩余补偿的剩余补偿伺服器故障诊断服务器故障诊断滑动模式观察者 滑动模式观察者

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