Diagnosis method for iterative learning fault of single-joint manipulator system

Abstract

The invention discloses a diagnosis method for an iterative learning fault of a single-joint manipulator system. The diagnosis method comprises the following steps: firstly, establishing a single-joint nonlinear manipulator system model, and constructing a manipulator nonlinear state variable dynamic equation; secondly, performing expansion transformation on a state variable dynamic system, and designing a diagnosis method for an iterative learning fault of an expansion system; finally, analyzing the stability and parameter selecting conditions of a fault diagnosis algorithm, and realizing real-time fault diagnosis for the manipulator system. The diagnosis method has the advantages that the fault diagnosis algorithm is not only suitable for faults of difficult types, and has generality for respectively diagnosing faults of an executor and a sensor; the generation of the faults can be qualitatively detected, and online fault reconstruction and estimation can be realized, so the real-time property is good; an expanded equation is directly constructed by a system equation; an iterative algorithm is simple and highly efficient; no mass additional parameter variables are needed to be introduced or no complex matrix equations are required to be solved; the engineering realization is easily reached.

Description

technical field [0001] The invention relates to an iterative learning fault diagnosis method for a single-joint mechanical arm system, belonging to the field of fault diagnosis. Background technique [0002] Robotic arms are high-precision, high-speed manipulators that are widely used in industrial manufacturing, medical, aerospace, and semiconductor manufacturing. On the basis of receiving instruction signals, the robotic arm can complete point-to-point operations in three-dimensional (or two-dimensional) space under mass production, improving production efficiency and the safety of production personnel. [0003] The single-joint manipulator is currently the most widely used automatic mechanical device in the field of robotics. However, with the repeated actions of the manipulator system, the probability of failure increases, which poses a threat to safe and continuous operation. Security risks. As an important guarantee for the safe operation of the system, fault diagnos...

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Problems solved by technology

The existing method is to introduce the filter into the actuator fault diagnosis of the system, but because of the obvious difference between the output sensor fault and the actuator fault, the fault diagnosis algorithm used for the actuator generally cannot be directly extended and applied to the system output sensor fault Diagnose the problem

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