Condition Monitoring of a Friction Drive System

This paper presents an approach for condition monitoring of a friction drive system, based on a recently developed deterioration estimation approach which includes the mechanical device dynamics and the dynamics of the deterioration at the joint. In this work a fault detection and a fault estimation application are proposed. Here, a fault is considered as an abnormal condition of the joint, mainly linked to the quality of the materials. For these purposes, we assume the knowledge of the input current signal and angular-speed sensor information. An architecture for condition monitoring is illustrated with abrupt fault and incipient fault simulated scenarios.