A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator
In this paper, the detecting and isolating fault that occurs in (actuator and sensor) in robot manipulator, which is used as a mathematical model were proposed for fault detection, where the neural network was used to detect the fault. The neural network was trained on the data set obtained from the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2019-08-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_169039_521eb4ac78afa6e3f617cb1ac4e5e203.pdf |
| _version_ | 1797325999283634176 |
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| author | Arkan Jassim Abbas Issa Qusay Jawad |
| author_facet | Arkan Jassim Abbas Issa Qusay Jawad |
| author_sort | Arkan Jassim |
| collection | DOAJ |
| description | In this paper, the detecting and isolating fault that occurs in (actuator and sensor) in robot manipulator, which is used as a mathematical model were proposed for fault detection, where the neural network was used to detect the fault. The neural network was trained on the data set obtained from the Input/output on the (DC motor).The output of the sensor or actuator was compared with the output of the model (neural network) after that the residual signal is used to detect the fault. The fuzzy logic circuit was used for fault isolation that is depending on the residual signal from any sensor or actuator that faults. There are three types of faults detected and isolated in this study abrupt fault, incipient fault and intermittent fault. The Matlab R2012a was used to the model steady state designed and simulated .The model has a high capacity for detecting faults. |
| first_indexed | 2024-03-08T06:18:15Z |
| format | Article |
| id | doaj.art-3b3128e457f44ca08195958f08658398 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:18:15Z |
| publishDate | 2019-08-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-3b3128e457f44ca08195958f086583982024-02-04T17:12:38ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582019-08-01378A32633110.30684/etj.37.8A.3169039A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot ManipulatorArkan Jassim0Abbas Issa1Qusay Jawad2University of Technology - IraqUniversity of Technology - IraqUniversity of Technology - IraqIn this paper, the detecting and isolating fault that occurs in (actuator and sensor) in robot manipulator, which is used as a mathematical model were proposed for fault detection, where the neural network was used to detect the fault. The neural network was trained on the data set obtained from the Input/output on the (DC motor).The output of the sensor or actuator was compared with the output of the model (neural network) after that the residual signal is used to detect the fault. The fuzzy logic circuit was used for fault isolation that is depending on the residual signal from any sensor or actuator that faults. There are three types of faults detected and isolated in this study abrupt fault, incipient fault and intermittent fault. The Matlab R2012a was used to the model steady state designed and simulated .The model has a high capacity for detecting faults.https://etj.uotechnology.edu.iq/article_169039_521eb4ac78afa6e3f617cb1ac4e5e203.pdffault detection and isolationartificial neural networkfuzzy logicmanipulator robot |
| spellingShingle | Arkan Jassim Abbas Issa Qusay Jawad A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator Engineering and Technology Journal fault detection and isolation artificial neural network fuzzy logic manipulator robot |
| title | A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator |
| title_full | A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator |
| title_fullStr | A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator |
| title_full_unstemmed | A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator |
| title_short | A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator |
| title_sort | hybrid neural fuzzy network based fault detection and isolationsystem for dc motor of robot manipulator |
| topic | fault detection and isolation artificial neural network fuzzy logic manipulator robot |
| url | https://etj.uotechnology.edu.iq/article_169039_521eb4ac78afa6e3f617cb1ac4e5e203.pdf |
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