Model Based Fault Detection of Backlash in Mechatronic Test Bench

This paper deals with a model based fault detection and isolation of backlash phenomenon. The dynamic model of the electromechanical system is derived by using the bond graph tool. The innovation interest of this contribution is the use of one representation language for modelling and monitoring the system with presence of backlash. Fault indicators are deduced from the analytical model and used in order to detect and isolate possible faults on the physical system including undesirable backlash. Simulation tests are done on an electromechanical test bench which consists of a DC motor carrying a mechanical load and including a backlash phenomenon