Fault diagnosis of an automated guided vehicle with torque and motion forces estimation: A case study

Marcin Witczak; Marcin Mrugalski; Marcin Pazera; Norbert Kukurowski

doi:10.1016/j.isatra.2020.05.012

Fault diagnosis of an automated guided vehicle with torque and motion forces estimation: A case study

ISA Trans. 2020 Sep:104:370-381. doi: 10.1016/j.isatra.2020.05.012. Epub 2020 May 11.

Authors

Marcin Witczak¹, Marcin Mrugalski², Marcin Pazera³, Norbert Kukurowski⁴

Affiliations

¹ Institute of Control and Computation Engineering, University of Zielona Góra, Prof. Z. Szafrana 2, 65-516, Zielona Góra, Poland. Electronic address: m.witczak@issi.uz.zgora.pl.
² Institute of Control and Computation Engineering, University of Zielona Góra, Prof. Z. Szafrana 2, 65-516, Zielona Góra, Poland. Electronic address: m.mrugalski@issi.uz.zgora.pl.
³ Institute of Control and Computation Engineering, University of Zielona Góra, Prof. Z. Szafrana 2, 65-516, Zielona Góra, Poland. Electronic address: m.pazera@issi.uz.zgora.pl.
⁴ Institute of Control and Computation Engineering, University of Zielona Góra, Prof. Z. Szafrana 2, 65-516, Zielona Góra, Poland. Electronic address: n.kukurowski@issi.uz.zgora.pl.

PMID: 32439131
DOI: 10.1016/j.isatra.2020.05.012

Abstract

The paper is devoted to developing a new fault detection scheme for an Automated Guided Vehicle (AGV) on the basis of so-called virtual sensors (VSs) which provide the information regarding the current status of a vehicle. This set contains the estimates of lateral and longitudinal forces as well as the torque. The paper proposes a novel robust VSs design scheme which yields such estimates taking into account inevitable disturbances/noise and modelling uncertainty without any knowledge about tire models used in the AGV. The obtained estimates are used to generate the residuals and to diagnose the current status of the vehicle. Finally, the paper shows the experimental results concerning the application of the developed methods to fault detection of the self-designed and constructed AGV.

Keywords: Autonomous guided vehicle; Fault diagnosis; Linear parameter-varying system; Observers; Virtual sensors.