2 Year Extension Seminar

3 Year Extension Seminar On
Energy Management and Fault Diagnosis of a Hydraulic

Hybrid System
BY: Sawan Kumar
ADMN NO: 16DR000229
JRF (Dept. of Mechanical
Engineering)
UNDER THE GUIDANCE OF: Dr. Jayanta Das
Dr. Sanjoy Kumar Ghoshal Assistant Professor
Associate Professor Dept. of Mining Machinary
Dept. of Mechanical Engineering Engineering
Indian Institute of Technology (ISM) Indian Institute of Technology (ISM)
Dhanbad Dhanbad
Overview
Introduction
Literature Survey
Research Gap
Objective of Research
Mathematical Modelling
Simulink Model of the system
Results And Discussion
Conclusion and Future Scope
Acknowledgments
References
Publications
16DR000229 Indian Institute of Technology (ISM), Dhanbad
Introduction
 Hydraulic hybrid systems (HHS) consist of a fluid power source which is
pressurized, and an engine operated by internal combustion, for low
consumption of fuel with a decreasing in polluted exhausts.
 The hydraulic hybrid system has the four most important components
Reservoir, pump/motor, accumulator and the working fluid.

Literature Survey
Sl. No Authors Year Findings and Remarks
EHL in Counter-formal Contacts
1. There are different techniques used for different types of heavy vehicles for
energy saving. For an electro-hydraulic system, the technique to reduce energy
consumption is to decrease the pump pressure to its least possible value for
that particular system at the time of operating the system with a proportional
relief valve [1]
2. Series hydraulic/ electric synergy technology is one type of energy-saving
technology for the automotive vehicle. This system consists of a hydrostatic
transmission drive system, an electric motor powered by a battery, hydro-
pneumatic accumulator and a brake energy recovery sub-system [5].
3. 1970 Another type of energy saving system is the Switch mode hydraulic control
system. It is installed between the hydraulic pump and the actuators. Basically,
this type of system finds its application in multiple actuators hydraulic system.
The Switch Mode Hydraulic Control System can be classified into two types–
Continued…… pressure boosts and pressure buck. The two types have been analyzed through
16DR000229
simulation and experiment [11]Indian Institute of Technology (ISM), Dhanbad
Literature Survey
4. There are two energy regeneration systems according to the working cycle
and structure of the hybrid excavator. The efficiency of the motor–generator
system to recover energy is 17%, using this 41% of the potential energy
required during lowering of the boom can be regenerated. A system consisting
of motor and generator would become more efficient when accumulators are
added to it for energy regeneration [24]
5. The hydraulic system can improve its efficiency of energy with one new type
of system called the Digital Hydraulic Power Management System. There are
several outlets though this is based on the digital pump/motor technology; so,
depending on this, the function of the transformer can be established. For
recovering of the potential energy and minimization of the hydraulic losses,
the DHPMS is directly connected to the hydraulic chamber without using
throttle valve. With this method also the control of displacement is necessary
[26].
Continued……
Literature Survey
6. For existing hydraulic hybrid excavators, the loss of energy is still too large
and the energy recovery efficiency is not high enough. To eradicate the
problem one new type of system is introduced by the researchers which consist
of three chamber cylinders (TCCs) with accumulators. There are some of the
chambers with the piston rod and without a piston rod and also counterweight
chamber. The accumulator is connected with the chamber with counter weight.
A pump controlled system consists of a variable pump, the inlet of the pump is
connected with the chamber with the piston rod and the outlet is connected
with the chamber without piston rod. Simulation of the dynamic response and
each component characteristics were analyzed by mathematical model also the
parameter matching accumulator had shown. Each cylinder dissipation was
obtained from the simulation and compared with the without potential energy
recovery dissipation. Using this system 30~60% of the reduction in energy
dissipation of the variable pump and 50% for the engine had been recorded
Continued…… [32].
16DR000229
7. Indianof
One effective way for reduction Institute of Technology
the energy (ISM), Dhanbad
consumption is potential energy
Research Gap
All these open literature suggests that
• Very few works are available which consider combination of qualitative and quantitative
approach for fault diagnosis.
• Effect of masking in fault isolation is not explored
• Multiple fault detection and isolation in case of switched hybrid mode operation is to be
addressed
• Also, a combined study of series and parallel hybrid system needs further analysis

Objectives of Research
Some physical system always obeys certain mathematical constraints described
at its normal operating condition by its behavioral model, which is generally a
set of algebraic equations. That can be established by equation balancing.
However, in a fault detection and identification (FDI) model, concurrent and
initial conditions are unknown and such constraints need to be derived only in
terms of identified variables, i.e. the sources and the measurements, termed as
analytical redundancy relations (ARRs). The ARRs should always be valid
within a definite bound of error, while estimated using measured data from the
physical system. In this work a fault hypothesis is created by evaluating a set of
ARRs. There-after, the parameter values parallels to the unstructured portion of
the fault subspace are assessed by minimizing a function of the ARRs, where
temporal values of the corresponding residuals are used. A genetic algorithm is
used
16DR000229for the estimation of the parameters susceptible
Indian Institute ofto the fault.
Technology (ISM), Dhanbad
The Physical System
The Figure 1 shows the schematic
representations of experimental set-up. The
components are numbered in Fig.1 and those
are described in Table 1 against respective tags.
The set-up consists of a 7.5 kW electric motor
(tag No.1) rotating at a speed of 150 rad/sec and
drives a variable displacement pump (tag No. 2)
that supplies pressurized fluid to a bent axis
hydro-motor (tag No.6) through a solenoid-
operated proportional flow control valve (tag
No. 4). By adjusting the voltage to the flow
control valve, the pump flow supplied to the
hydro-motor is varied accordingly

The Physical System
Tag No. Name of equipment Parameters Value

1 Electrical Drive Motor Electric motor speed (𝜔𝑝 ) 150 rad/s
2 Variable displacement pump Fixed pump displacement (𝑉𝑝 ) 3.15×10-6 m3/rad
3 Spring loaded check valve Bulk Stiffness (𝑘𝑏𝑢𝑙𝑘 ) 5×1012 N/m2
4 Proportional Flow control valve Resistance to pump leakage flow path (𝐿𝑝 ) 1×1011 N-s/m2
5 Flow sensor Coefficient of Discharge (𝐶𝐷 ) 0.64
6 motor Density of the fluid (𝜌) 865.7 m3/kg
7 Loading pump (Fixed displacement)
Orifice area of the proportional valve(𝐴) 2×10-5m2
Motor Displacement (𝑉𝑚 ) 1.91×10-6 m3/rad
8 Speed sensor
Inertia of Motor (𝐽) 0.01 kg-m2
9 Pressure Relief valve
Motor leakage (𝐿𝑚 ) 1×1012 N-s/m2
10 Filter
Loading pump Displacement (𝑉𝑙𝑝 ) 1.75×10-6 m3/rad
11 Oil cooler
Proportional Leakage Area Constant for Loading 2×10-5 m2
12.1 to 12.4 Hydraulic reservoir Circuit (𝐴𝑙 )
Proportional Leakage Area Constant for Motor 1×10-4 m2
13.1 to 13.4 Pressure sensor (𝐴𝑐ℎ )
Atmospheric Pressure (𝑃𝑎𝑡𝑚 ) 1×105 Pa
14 Flow control valve
15 Flow restrictor valve Viscous Friction (𝑓) 0.1 N-s/m2

Mathematical Modelling
For modelling of the system the following assumptions have been made:
 The fluid has Newtonian characteristics
 The flow rate through the valve maintains a nonlinear relationship with pressure
differential across the valve.
 Details of valve dynamics incorporating spool inertia and friction effects are not taken
into consideration.
The constitutive relations for each component are given in the subsequent sub-sections:

𝑬𝒔 𝟐 𝑬𝒔 −𝑬𝒅
𝑭𝒑 = 𝑽𝒑 𝝎𝒑 − − 𝑪𝑫 𝑨 𝑺𝒈𝒏 𝑬𝒔 − 𝑬𝒅 (1)
𝑳𝒑 𝝆
Where,
𝐹𝑝 = Volume flow rate provided by the pump
𝑉𝑝 = Fixed pump displacement
𝐿𝑝 = Resistance to pump leakage flow path
𝐸𝑠 = Main pump pressure or system pressure
𝐶𝐷 = Coefficient of discharge
𝐴 = Orifice area of the proportional valve
𝐸𝑑 = Proportional relief valve pressure or delivery pressure
And 𝐸𝑠 =𝑘𝑏𝑢𝑙𝑘 ‫𝑡𝑑 𝑝𝐹 ׬‬, 𝑘𝑏𝑢𝑙𝑘 = Bulk Modulus
𝟐 𝑬𝒔 −𝑬𝒅 𝑬𝒅
𝑭𝒎 = 𝑪𝑫 𝑨 𝑺𝒈𝒏 𝑬𝒔 − 𝑬𝒅 − 𝑽𝒎 𝝎𝒎 − (2)
𝝆 𝑳𝒎
Where,
𝐹𝑚 = Volume flow rate provided by the motor
𝑉𝑚 = Volumetric motor displacement
𝐿𝑚 = Leakage of motor
𝜔𝑚 = Angular velocity of motor
And 𝐸𝑑 = 𝑘𝑏𝑢𝑙𝑘 ‫𝑡𝑑 𝑚𝐹 ׬‬

Now, torque provided by the motor is,
𝐸𝑚 = 𝑉𝑚 𝐸𝑠 − 𝐸𝑐ℎ − 𝑓𝜔𝑚 − 𝑉𝑙𝑝 𝐸𝑙𝑑 (3)
Where,
𝐸𝑐ℎ = Check Valve pressure at loading circuit
𝑓 = Viscous friction coefficient
𝑉𝑙𝑝 = Loading pump displacement
𝐸𝑙𝑑 = Pressure of the loading pump plenum
‫𝑡𝑑 𝑚𝐸 ׬‬ ‫𝑡𝑑 𝑚𝐸 ׬‬
And 𝜔𝑚 = 𝐹 = =
𝑀𝑜𝑡𝑜𝑟 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 𝐽

Now, flow to the tank from the motor can be described as,
2 𝐸𝑐ℎ −𝑃𝑎𝑡𝑚
𝐹𝑚1 = 𝑉𝑚 𝜔𝑚 − 𝐶𝑑 𝐴𝑐ℎ 𝑠𝑔𝑛 𝐸𝑐ℎ − 𝑃𝑎𝑡𝑚
𝜌
2 𝐸𝑙𝑑 −𝐸𝑐ℎ
+ 𝐶𝑑 𝐴𝑙 𝑠𝑔𝑛 𝐸𝑙𝑑 − 𝐸𝑐ℎ (4)
𝜌
And corresponding effort = 𝐸𝑐ℎ = 𝑘𝑏𝑢𝑙𝑘 ‫𝑚𝐹 ׬‬1 𝑑𝑡

Where,
𝐹𝑚1 = Flow through check valve
𝐴𝑐ℎ = Orifice area of the check valve at load circuit
𝑃𝑎𝑡𝑚 = Atmospheric pressure
Loading pump
Loading pump which is coupled with the hydraulic motor also experiences some
hydraulic losses during fluid flowing through the pump. Now, the flow from the pump is
described as,
2 𝐸𝑙𝑑 −𝐸𝑐ℎ
𝐹𝑙𝑝 = 𝑉𝑙𝑝 𝜔𝑚 − 𝐶𝑑 𝐴𝑙 𝑠𝑔𝑛 𝐸𝑙𝑑 − 𝐸𝑐ℎ (5)
𝜌
Where the pressure at the inlet to the loading pump = 𝐸𝑙𝑑 = 𝑘𝑏𝑢𝑙𝑘 ‫𝑡𝑑 𝑝𝑙𝐹 ׬‬
𝐴𝑙 = Orifice area of the load valve

Residuals
In this application five sensors are used, therefore the number of residuals will be five.
From equation (1), the first residual can be described as below,
𝐸𝑠ሶ 𝐸𝑠 2 𝐸𝑠 −𝐸𝑑
𝑅𝑑1 = 𝑉𝑝 𝜔𝑝 − − − 𝐶𝐷 𝐴 𝑆𝑔𝑛 𝐸𝑠 − 𝐸𝑑 (6)
𝑘𝑏𝑢𝑙𝑘 𝐿𝑝 𝜌
𝐸ሶ 𝑠 2 𝐸𝑠 −𝐸𝑑 𝐸𝑠
And 𝜀1 = + 𝛿𝑉𝑝 𝜔𝑝 + 𝛿 𝐶𝐷 𝐴 +
𝛿𝑘𝑏𝑙𝑘 𝜌 𝛿𝐿𝑝
Here,  is the uncertainty for the associated parameter and its value is considered as 0.1 (i.e. 10
%).
Upper threshold value = 𝑅𝑑1 + 𝜀1
Lower threshold value =𝑅𝑑1 − 𝜀1

Residuals
The second residual corresponding to the second equation is,
2 𝐸𝑠 −𝐸𝑑 𝐸ሶ 𝑑 𝐸𝑑
𝑅𝑑2 = 𝐶𝐷 𝐴 𝑆𝑔𝑛 𝐸𝑠 − 𝐸𝑑 − 𝑉𝑚 𝜔𝑚 − − (7)
𝜌 𝑘𝑏𝑢𝑙𝑘 𝐿𝑚
𝐸ሶ 𝑑 2 𝐸𝑠 −𝐸𝑑 𝐸𝑑
And 𝜀2 = + 𝛿𝑉𝑚 𝜔𝑚 + 𝛿 𝐶𝐷 𝐴 +
𝛿𝑘𝑏𝑙𝑘 𝜌 𝐿𝑚
Lower threshold value = 𝑅𝑑2 − 𝜀2

Residuals
According to equation (3), the third residual is as follows,
𝑅𝑑3 = 𝑉𝑚 𝐸𝑠 − 𝐸𝑐ℎ − 𝑓𝜔𝑚 − 𝑉𝑙𝑝 𝐸𝑙𝑑 − 𝐽𝜔ሶ 𝑚 (8)
and
𝜀3 = 𝛿𝑉𝑚 𝐸𝑠 − 𝐸𝑐ℎ + 𝛿𝑓 𝜔𝑚 + 𝛿𝑉𝑙𝑝 𝐸𝑙𝑑 + 𝛿𝐽 𝜔ሶ 𝑚

Residuals
From equation (5), the fourth residual can be described as below,
𝐸ሶ 𝑙𝑑 2 𝐸𝑙𝑑 −𝐸𝑐ℎ
𝑅𝑑4 = − 𝑉𝑙𝑝 𝜔𝑚 + 𝐶𝐷 𝐴𝑙 𝑠𝑔𝑛 𝐸𝑙𝑑 − 𝐸𝑐ℎ (9)
𝑘𝑏𝑙𝑘 𝜌
And
𝐸ሶ 𝑙𝑑 2 𝐸𝑙𝑑 − 𝐸𝑐ℎ
𝜀4 = + 𝛿𝑉𝑙𝑝 𝜔𝑚 + 𝛿 𝐶𝐷 𝐴𝑙
𝛿𝑘𝑏𝑙𝑘 𝜌

Residuals
From equation (4), the fifth residual can be described as,
𝑅𝑑5 = 𝑉𝑚 𝜔𝑚 − 𝐶𝑑 𝐴𝑐ℎ 𝑠𝑔𝑛 𝐸𝑐ℎ − 𝑃𝑎𝑡𝑚
𝜌
2 𝐸𝑙𝑑 −𝐸𝑐ℎ 𝐸ሶ 𝑐ℎ
+ 𝐶𝑑 𝐴𝑙 𝑠𝑔𝑛 𝐸𝑙𝑑 − 𝐸𝑐ℎ − (10)
𝜌 𝑘𝑏𝑢𝑙𝑘
And
𝜀5 = 𝛿𝑉𝑚 𝜔𝑚 + 𝛿 𝐶𝑑 𝐴𝑐ℎ
𝜌
2 𝐸𝑙𝑑 −𝐸𝑐ℎ 𝐸ሶ 𝑐ℎ
+ 𝛿 𝐶𝑑 𝐴𝑙 +
𝜌 𝛿𝑘𝑏𝑢𝑙𝑘
From the five residual equation from (6) to (10), the fault signature matrix can be drawn
as follows, which represents the components related to a fault.
Components Rd1 Rd2 Rd3 Rd4 Rd5 I
𝑉𝑝 1 0 0 0 0 0
𝑉𝑚 0 1 1 0 1 1
𝐴 1 1 0 0 0 1
𝐴𝑙 0 0 0 1 1 1
𝑉𝑙𝑝 0 0 1 1 0 1
𝐿𝑝 1 0 0 0 0 0
𝐿𝑚 0 1 0 0 0 1
𝑓 0 0 1 0 0 1
Isolation of Faulty Components

According to the Fault Signature Matrix (FSM), the probable components can be
identified during the breakdown of the machine for a particular type problem. But
there are some faults which cannot be isolated because of its nature. In the given
FSM, if only the first Residual (Rd1) deviates, then it is not isolable between 𝑉𝑝
and 𝐿𝑝 . The reason is that fault signature is same, i.e. coherence vector Ƈ= [1 0 0 0 0]
for 𝑉𝑝 and 𝐿𝑝 . To isolate these components we need to use optimization techniques.

Simulink Model of the system

Simulink Model of the system
According to the mathematical equations of the above section, a block model is made
in MATLAB/Simulink. The model has been divided into two parts – Behavioral model
(Figure 2 and Figure 3) and Diagnostic model (Figure 4). In the behavioral model the
constitutive relations given in Eqns. (1) through (5) are evaluated. Whereas, the
diagnostic model is simple computation of the residuals given in Eqns. (6) through
(10). The output from the behavioral model is measurable system variables which are
considered as the inputs for the diagnostic model, and outputs from the diagnostic
model are residuals that are monitored for fault detection. In this work, initially the
faults are imposed on the model itself to understand the sensitivity of the residuals.
Finally the same faults are tested on the test set-up for validation.

Results and Discussion
1.1 Experimental validation

1.2 Residual evaluation using test data
Two types of faults are imposed one after
another. First one is the reduction of
pump displacement (i.e. Vp reduced) and
next is the reduction of the leakage
resistance across the variable
displacement pump (i.e. Lp reduced) at 5
sec. Only Rd1 is crossing the threshold as
shown in Figure 7 and Figure 8,
respectively. Only Rd1 is deflected
beyond the range of the threshold. Now
the task is to isolate the faulty component
through parameter estimation.

1.3 Fault isolation through parameter estimation using genetic algorithm
Genetic Algorithm
Genetic algorithm is the random optimization
method based on the principle of natural selection
and biological evolution [13]. It is adaptive
procedures derived from Darwin’s principal of
survival of the fittest. By manipulation of these
individuals through genetic operators such as
selection, crossover and mutation, GA evolves
towards better solutions over a number a
generations. Implementation of genetic algorithm is
shown in a flowchart in Figure 9.
Let a fault subspace 𝐷𝑠 containing p parameters and q residuals (p≥q) be the fault domain.
Then each parameter 𝛽𝑖 ∈ 𝐷𝑠 (𝑖 = 1, … … … . , 𝑚) may be predictable by using least-squares
optimization of n residuals with the optimization problem formulated as 𝑚𝑖𝑛𝛽 ø(𝛽),
Where,
𝑇
ø 𝛽 = σ𝑘𝑗=𝑘−𝑚 ℎ 𝑡𝑗 𝑃ℎ 𝑡𝑗 (12)
The above equation is the objective function, 𝛽𝜖ℜ𝑝 , 𝑃 ∈ ℜ𝑝×𝑞 is a positive semi-definite
weighting function, at the jth sample the normalized residual vector isℎ 𝑡𝑗 ∈ ℜ𝑛 , the present
sample number is denoted by 𝑘, and the number of past samples are represented by 𝑚 ≥ 0.

Here value of 𝑚 = 2 for Eq. (12) and from the Eq. (1) objective function is formulated. Tw
equation for two time domain are taken at t1 and t2. These two Eq. (13) and Eq. (14) are used as a
objective function of the genetic algorithm.
𝐸𝑝 2 𝐸𝑝 −𝐸𝑜
𝐹𝑝𝑡1 = 𝑉𝑝𝑡1 𝜔𝑝 − − 𝐶𝐷 𝐴 𝑆𝑔𝑛 𝐸𝑝 − 𝐸𝑜 (13)
𝐿𝑝𝑡1 𝜌
And
𝐸𝑝 2 𝐸𝑝 −𝐸𝑜
𝐹𝑝𝑡2 = 𝑉𝑝𝑡2 𝜔𝑝 − − 𝐶𝐷 𝐴 𝑆𝑔𝑛 𝐸𝑝 − 𝐸𝑜 (14)
𝐿𝑝𝑡2 𝜌


Figure 11 and 12 show time evolution of the estimated values obtained through genetic
algorithm. After the imposition of fault at 5 s, the estimated value of displacement of
pump (Vp) is obtained as 2.074 × 10-6 m3/rad and leakage resistance (Lp) is 1.5×1011 N-
s/m2. Whereas, the nominal values for Vp and Lp are 3.14 × 10-6 m3/rad and 1×1011 N-
s/m2 respectively (refer Table 2). But increase of leakage resistance above nominal is not
admissible. Hence, the admissible solution is the reduction of pump displacement to
2.074× 10-6 m3/rad.

Upcoming work
Figure 11 and 12 show time evolution of the estimated values obtained through genetic
algorithm. After the imposition of fault at 5 s, the estimated value of displacement of
pump (Vp) is obtained as 2.074 × 10-6 m3/rad and leakage resistance (Lp) is 1.5×1011 N-
s/m2. Whereas, the nominal values for Vp and Lp are 3.14 × 10-6 m3/rad and 1×1011 N-
s/m2 respectively (refer Table 2). But increase of leakage resistance above nominal is not
admissible. Hence, the admissible solution is the reduction of pump displacement to
2.074× 10-6 m3/rad.

Conclusion and Future Scope
1. Fault diagnosis is performed through the parameter estimation from susceptible

parameter sub-space identified by the non-isolable fault signature. Genetic algorithm is
applied on a least-square objective function which uses temporal information. The
algorithm is successfully implemented on a power hydraulic test bench.
2. However, sensor faults are not accounted in this work. Also, different combination of
faulty situations may suppress the effect of one fault into another. This is termed as the
fault masking which may be taken up for future investigation.

Acknowledgments
I am grateful to DST project number YSS/2015/000397 “Design and development of

series-parallel hydraulic hybrid energy efficient excavator having displacement controlled
actuators” for providing the set-up for doing future research in this field.

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Publications
Sl. No Topic Journal name Status
1. Review of Different Energy Saving Strategies IOP Conference Series: Accepted
Applicable To Hydraulic Hybrid Systems Used In Materials Science and Vol: 377, Issue:1
Heavy Vehicles Engineering
2. To be
Communicated
Sl. No Publications in Conferences

1. Ghoshal, S. K., Kumar, S., Das, S., & Das, J., “Fault Isolation of a power hydraulic system through parameter
estimation using temporal information and Genetic Algorithm”, 29th International Workshop on Principles of
Diagnosis DX'18 in Warsaw, Poland.

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Energy Management and Fault Diagnosis of a Hydraulic

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

Tag No. Name of equipment Parameters Value

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

And corresponding effort = 𝐸𝑐ℎ = 𝑘𝑏𝑢𝑙𝑘 ‫𝑚𝐹 ׬‬1 𝑑𝑡

𝐴𝑙 = Orifice area of the load valve

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

Isolation of Faulty Components

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

1. Fault diagnosis is performed through the parameter estimation from susceptible

16DR000229 Indian Institute of Technology (ISM), Dhanbad

I am grateful to DST project number YSS/2015/000397 “Design and development of

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

Sl. No Publications in Conferences

16DR000229 Indian Institute of Technology (ISM), Dhanbad

16DR000229 Indian Institute of Technology (ISM), Dhanbad

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