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From Deterioration Modeling to Remaining Useful Life Control: a comprehensive framework for post-prognosis decision-making applied to friction drive systems

Diego Rodriguez Obando 1, 2
1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
GIPSA-DA - Département Automatique
2 GIPSA-SAIGA - GIPSA - Signal et Automatique pour la surveillance, le diagnostic et la biomécanique
GIPSA-DA - Département Automatique, GIPSA-DIS - Département Images et Signal
Abstract : Remaining Useful Lifetime (RUL) can be simply defined as a prediction of the re-maining time that a system is able to perform its intended function, from the current time to the final failure. In general, the purpose for predicting the RUL is to influence decision-making for the system. This thesis deals with the development of a comprehensive framework for controlling the RUL of a sys-tem, as a strategy to use the post-prognostic information and act dynamically over the decision-making during operation. Prediction of RUL mostly depends on the state of deterioration of the system com-ponents and their assumed future operating conditions. RUL prediction is an uncertain process and its control is not a trivial task. Model uncertainties as well as system disturbances have been considered into the proposed framework. Friction drive systems are used for illustrating the usefulness of the aforementioned framework. For this kind of system, the friction is the source of mechanical motion and simultaneously the source of deterioration. This double characteristic is a motivation for controlling automatically the deterioration of the system by keeping a trade-off, between motion requirements and desired RUL values. Firstly, a new control-oriented dynamical model of the deterioration is proposed. The amount of deterioration has been considered as a function of the dissipated energy at the contact surfaces, during the mechanical power transmission. An approach for estimating the current deteriora-tion condition of a friction drive system is proposed. The approach is based on an Extended Kalman Filter (EKF), which uses an augmented model including the mechanical dynamical system and the deterioration dynamics. At every time instant, the EKF also provides intervals which surely includes the actual deterioration value with a given probability. A new architecture for controlling the RUL is proposed and includes: a) a deterioration condition monitoring system (for instance the proposed EKF), b) a system operating condition estimator, c) a RUL controller system, and d) a RUL-actuating- principle. The operating condition estimator is based on the assumption that it is possible to quantify certain characteristics of the motion requirements, for instance the duty cycle of motor torques. The RUL controller uses a cost function that weights the motion requirements and the desired RUL values to modify a varying-parameter filter, used here as the RUL-actuating-principle. This RUL-actuating- principle is based on a modification of the demanded torques, coming from a possible motion controller system. Results show that the RULcan be controlled according to the proposed theoretical framework
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Diego Rodriguez Obando. From Deterioration Modeling to Remaining Useful Life Control: a comprehensive framework for post-prognosis decision-making applied to friction drive systems. Automatic. Communauté Université Grenoble Alpes, 2018. English. ⟨tel-02019101v1⟩



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