Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Sliding Mode Observer-based Fault Detection Algorithm for Steering Input of an All-Terrain Crane

슬라이딩 모드 관측기 기반 전지형 크레인의 조향입력 고장검출 알고리즘

  • Oh, Kwangseok (Department of Automotive Engineering, Honam University) ;
  • Seo, Jaho (Department of Biosystems Machinery Engineering, Chungnam National University)
  • Received : 2017.03.11
  • Accepted : 2017.05.30
  • Published : 2017.06.01
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Abstract

This paper presents a sliding mode observer-based fault detection algorithm for steering inputs of an all-terrain crane. All-terrain cranes with multi-axles have several steering modes for various working purposes. Since steering angles at the other axles except the first wheel are controlled by using the information of steering angle at the first wheel, a reliable signal of the first axle's steering angle should be secured for the driving safety of cranes. For the fault detection of steering input signal, a simplified crane model-based sliding mode observer has been used. Using a sliding mode observer with an equivalent output injection signal that represents an actual fault signal, a fault signal in steering input was reconstructed. The road steering mode of the crane's steering system was used to conduct performance evaluations of a proposed algorithm, and an arbitrary fault signal was applied to the steering angle at the first wheel. Since the road steering mode has different steering strategies according to different speed intervals, performance evaluations were conducted based on the curved path scenario with various speed conditions. The design of algorithms and performance evaluations were conducted on Matlab/Simulink environment, and evaluation results reveal that the proposed algorithm is capable of detecting and reconstructing a fault signal reasonably well.

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References

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