This paper presents the method of synthesis of faults identification systems for electric servo actuators of multilink manipulators.\nThese actuators are described by nonlinear equations with significantly changing coefficients. The proposed method is based on\nlogic-dynamic approach for design of diagnostic observers for fault detection and isolation. An advantage of this approach is that\nit allows studying systems with nonsmooth nonlinearities by linear methods only. For solving the task of faults identification, a\nresidual signal feedback was proposed to be used for observers. The efficiency of the proposed fault identification system was\nconfirmed by results of simulation.
Loading....