Motor servo system additivity fault detection and fault tolerant control method based on slip form

Abstract

The invention discloses a motor servo system additivity fault detection and fault tolerant control method based on a slip form. The method includes building a motor servo system mathematical model containing additivity fault description, designing a slip form disturbance observer to observe additivity fault level and demonstrate observation accuracy, designing an initiative fault tolerant controller according to the observed additivity fault, and demonstrating system overall gradual stability according to the Lyapunov nonlinear stability principle. By means of the control method, the reasonable fault tolerance degree can be set to ensure that effects caused by various model uncertainties are kept in the designed fault tolerance range all the time when the system has no fault, false alarming of the system is avoided, and fault detection robustness is improved. The additivity fault level of the system can be observed on line, real-time performance of additivity fault detection is guaranteed while system control performance is not affected, active detection missing and fault tolerant control of minor faults can be achieved, and timely warning of severe faults is also achieved.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo fault-tolerant control, in particular to a method for additive fault detection and fault-tolerant control of a motor servo system based on a sliding mode. Background technique [0002] With the development of modern industry towards automation and precision, the requirements for transmission system are also getting higher and higher. This trend is becoming more and more prominent in various industries. The motor servo system is widely used in transmission systems in various fields due to its advantages of high precision and fast response, and occupies a dominant position. At the same time, as the requirements for motor servo systems in various fields are getting higher and higher, the precision and complexity of motor servo systems are also getting higher and higher, and the maintenance requirements for motor servo equipment are also getting higher and higher. Because the various ...

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Problems solved by technology

Mainly manifested in: the internal power transmission of the system is closed, the parameter measurability is poor, and the fault information is difficult to extract; the characteristics and causes of the fault are generally ambiguous, showing that the same fault may be caused by different reasons, and the same fault may produce different fault characteristics , Different faults may also cause the same fault characteristics. When multiple faults are concurrent, the fault characteristics are more complex, which brings difficulties to the system status detection and online fault diagnosis. These problems have always plagued the maintenance and users of motor servo equipment

Signal-based fault detection is more accurate and has a lower false alarm rate, but the amount of data processing is larger; while model-based fault detection relies on a more accurate system model, which is easy to implement online, but the robustness and sensitivity of fault detection Difficult to balance

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