Abstract Nowadays detection of deterioration of electrical motors is an important topic of research. Vibration signals often carry diagnostic information of a motor. The authors proposed a setup for the analysis of vibration signals of three-phase induction motors. In this paper rotor fault diagnostic techniques of a three-phase induction motor (TPIM) were presented. The presented techniques used vibration signals and signal processing methods. The authors analyzed the recognition rate of vibration signal readings for 3 states of the TPIM: healthy TPIM, TPIM with 1 broken bar, and TPIM with 2 broken bars. In this paper the authors described a method of the feature extraction of vibration signals Method of Selection of Amplitudes of Frequencies – MSAF-12. Feature vectors were obtained using FFT, MSAF-12, and mean of vector sum. Three methods of classification were used: Nearest Neighbor (NN), Linear Discriminant Analysis (LDA), and Linear Support Vector Machine (LSVM). The obtained results of analyzed classifiers were in the range of 97.61 % – 100 %.

Detection of Deterioration of Three-phase Induction Motor using Vibration Signals

In this article, in the presence of unknown actuator faults, input saturations, and complete unknowns including both internal dynamics and external disturbances, exact trajectory-tracking problem of a surface vehicle (SV) is solved by creating a finite-time fault estimator based fault-tolerance control (FFE-FTC) scheme. By virtue of input saturations, smoothly saturated controls are separated from input nonlinearities including unknown faults, thereby leaving faults-mixed unknowns be exactly observed by a finite-time fault estimator (FFE). By defining an integral sliding-mode (ISM) manifold and deriving affine controls with unknown gains from smooth saturations, Nussbaum technique is deployed to synthesize a uniformly adaptive finite-time controller working in a large range outside input saturations. Within the close range where saturations are removed, an ISM-based nonsmooth controller with finite-time auxiliary compensation dynamics is devised to finely stick tracking errors to the origin. Intuitively, large- and close-range control actions are triggered by measuring the ISM error, thereby contributing to the entire FFE-FTC scheme, which achieves exact fault-tolerance and unknown rejection under input saturations. Lyapunov and nonsmooth syntheses prove that the closed-loop FFE-FTC system is globally finite-time stable. Simulation results and comparisons on a prototype SV demonstrate remarkable performance in terms of feasibly saturated controls and exact trajectory-tracking, simultaneously.

Finite-Time Fault Estimator Based Fault-Tolerance Control for a Surface Vehicle With Input Saturations

In this paper, a novel translation–rotation cascade control (TRCC) scheme is developed for path following of an autonomous underactuated ship suffering from unknown sideslip and complex disturbances. Salient contributions are as follows: 1) finite-time observers are devised to exactly estimate lumped unknowns including sideslip, disturbances, and virtual yaw acceleration; 2) complex unknowns are compositely compensated with finite-time convergence such that exact path following with accurate unknown rejection is achieved; 3) in lieu of detached guidance-control design in previous works, the TRCC facilitates integrated guidance-control (IGC) system in a cascade manner; 4) combining cascade analysis with Lyapunov approach, the entire IGC system is ensured to be globally uniformly asymptotically stable. Both simulation and experimental results are provided to validate the superiority of the proposed TRCC scheme.

Path Following of Autonomous Underactuated Ships: A Translation–Rotation Cascade Control Approach

In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly enhance the decision-making autonomy pertaining to guidance of kinematics and dynamics, simultaneously. Complex unknowns can be exactly identified by virtue of the devised finite-time uncertainty observer (FUO), by which FUO-based nonsmooth control laws are able to achieve accurate guidance tracking, and thereby, contributing to entire finite-time path-following performance with strong robustness. Simulation results demonstrate the remarkable performance of the proposed SHG-FPC scheme.

Surge-Heading Guidance-Based Finite-Time Path Following of Underactuated Marine Vehicles

In this paper, under unforeseen circumstances, a dynamics-constrained global-local (DGL) hybrid path planning scheme incorporating global path planning and local hierarchical architecture is created for an autonomous surface vehicle (ASV) with constrained dynamics. By encapsulating ASV safety area into Theta*-like heuristics, global path planning algorithm is developed to optimally generate sparse waypoints which are sufficiently clear to constraints. To deal with dynamically unforeseen environments, a local hierarchy is established by fuzzy decision-making (FDM) and fine dynamic window (FDW) layers, which are responsible for large- and close-range collision avoidance, respectively, by governing surge and yaw velocity guidance signals. With the aid of the FDW, constrained dynamics pertaining to the ASV, i.e., actuatable surge/yaw velocities and accelerations, are elaboratively embedded into local path planning, which in turn governs trackable collision-avoidance local path. By inserting virtual waypoints onto the globally optimal path, a seamless interface between global and local path-planning mechanism is devised, and thereby contributing to the entire DGL hybrid path planning scheme. Simulations and comparisons in various real-world geographies demonstrate the effectiveness and superiority of the proposed DGL hybrid path planning scheme.

Dynamics-Constrained Global-Local Hybrid Path Planning of an Autonomous Surface Vehicle

Interference reduction of high-energy noise for modal parameter identification of offshore wind turbines based on iterative signal extraction

A new energy transfer path analysis (TPA) method that aims to analyze the transfer path of components with characteristic frequencies in semisubmersible platform structures is proposed in this paper. Due to the complexity of semisubmersible platforms, traditional TPA methods based on measurements are no longer applicable. In the proposed method, the structure is considered to be a “source-path-receiver” system and the vibration signals from the source-points are analyzed first to determine the characteristic components. Then, the signals from the source-points and the receiver-points are decomposed by introducing a state–space model. Through correlation functions, the characteristic components can be extracted, and the transfer path can be obtained by calculating the transmissibility functions. By using transmissibility functions, the proposed method only relies on the output responses and avoids the measurement of force and transfer functions. Three examples, one numerical example containing a two-degree-of-freedom (2-DOF) model and a 5-DOF model, one experiment implemented on a barge, and the data from a dynamic positioning (DP) cabin of a semisubmersible platform were used to investigate the performance of the proposed method. The results show that the proposed method can be used to assess the transfer path quantitatively and has potential value of application in engineering.

https://www.mdpi.com/1996-1073/12/24/4801/pdf

Huawei Han

Papers

Interference reduction of high-energy noise for modal parameter identification of offshore wind turbines based on iterative signal extraction

Transfer Path Analysis for Semisubmersible Platforms Based on Noisy Measured Data