基于GARRs的移动机器人电动液压转向系统故障诊断与隔离

总体解析冗余关系概念(GARRs)使得基于键合图故障检测和隔离(FDI)框架得到发展，该新概念可以对混合动力系统（包括连续动力学和离散模式）进行故障诊断。利用这种新开发的方法研究了基于电动液压转向的CyCab移动机器人系统，GARRs可以从一个混合键合图(HBG)模型中特殊的因果关系系统地推导出来。应用了FDI，并对结果进行了讨论。

Failure Diagnosis and Isolation of Electro-hydraulic Steering System of Mobile Robot Based on GARRs

General analytical redundancy relations (GARRs) developed the framework of failure diagnosis and isolation based on bond graph. The new concept may be implemented the failure diagnosis on hybrid system (including continuous dynamics and discrete mode). The newly developed method was used to study CyCab mobile robots system based on electro-hydraulic steering and GARRs was derived systematically through a particular causality of the hybrid bond graph (HBG). FDI was used and the result was discussed.