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A 3ptt-2r series-parallel CNC machine tool servo system fault prediction device and method based on residual error observer

A 3PTT-2R, CNC machine tool technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as false positives and false negatives, easy to cause false positives and false negatives, and low accuracy of fault parameter estimation. It achieves the effects of small calculation amount, improved effectiveness, and convenient real-time fault prediction

Inactive Publication Date: 2021-08-17
CHANGCHUN UNIV OF TECH
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  • Claims
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the traditional fault prediction method simply uses the predicted state to predict the fault, and at the same time, the estimation accuracy of the fault parameters by the nonlinear filter is not high, which easily causes false positives and false negatives, and provides a residual error-based 3PTT-2R series-parallel CNC machine tool servo system fault prediction device and method based on observer
[0005] A 3PTT-2R series-parallel CNC machine tool servo system fault prediction device based on a residual observer according to the present invention aims to solve the problem of purely using the prediction state for fault prediction. At the same time, the estimation accuracy of the fault parameters is not high by nonlinear filtering. It is very easy to cause false positives and false negatives

Method used

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  • A 3ptt-2r series-parallel CNC machine tool servo system fault prediction device and method based on residual error observer
  • A 3ptt-2r series-parallel CNC machine tool servo system fault prediction device and method based on residual error observer
  • A 3ptt-2r series-parallel CNC machine tool servo system fault prediction device and method based on residual error observer

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specific Embodiment approach 1

[0019] Specific implementation mode one: the following combination figure 1 Describe this embodiment, a 3PTT-2R series-parallel CNC machine tool servo system fault prediction device based on a residual observer in this embodiment, the purpose is to solve the problem of fault prediction purely using the prediction state, and at the same time, the non-linear filter has no The estimation accuracy is not high, and it is easy to cause false positives and false negatives. Therefore, the 3PTT-2R serial-parallel CNC machine tool servo system fault prediction device of the present invention includes a 3PTT-2R serial-parallel CNC machine tool dynamic model module, a residual observer module, an improved strong tracking filter module and a fault prediction module.

[0020] The 3PTT-2R serial-parallel CNC machine tool dynamics module constructs a serial-parallel CNC machine tool dynamics model based on the state signals such as the speed output by the controller, and outputs signals such ...

specific Embodiment approach 2

[0023] Specific implementation mode two: the following combination figure 1 Describe this embodiment, this embodiment is to do further explanation to Embodiment 1: the serial-parallel machine tool dynamics model that module 1 constructs is:

[0024] x(k+1)=A(k,x(k)) x(k)+Bu(k)

[0025] Among them, the state vector x(k), input vector u(k), output vector y(k) and coefficient matrix are:

[0026] x(k)=[I d (k)I q (k) ω(k) θ(k) T L (k) υ(k)] T ,

[0027] u(k)=[U d (k)U q (k)], y(k)=[I d (k)I q (k)],

[0028]

[0029] a 12 =T c ω(k);a 13 =T c I q (k); a 21 =-T c ω(k);

[0030]

[0031]

[0032] The observation equation can be written as:

[0033] y(k+1)=Cx(k+1)

[0034] in,

specific Embodiment approach 3

[0035] Specific implementation mode three: the following combination figure 1 Describe this embodiment, this embodiment is a further description of Embodiment 1: the residual observer equation constructed by the residual observer module 2 is:

[0036]

[0037] in, is the residual matrix, and F 1 =(I-C)A,F 2 =(I-C)B.

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Abstract

The invention provides a 3PTT-2R series-parallel CNC machine tool servo system fault prediction device and method based on a residual observer, belonging to the field of machine tool fault signal detection. The present invention no longer simply uses the predicted state for fault prediction, but compares the output value of the observer with the output value of the system to generate a residual signal, and reflects the inconsistency between the expected behavior of the system and the operating mode by analyzing the residual signal to realize Prediction of hidden faults has achieved relatively satisfactory results.

Description

technical field [0001] The invention relates to a 3PTT-2R series-parallel CNC machine tool servo system failure prediction device and method based on a residual observer, belonging to the field of machine tool failure signal detection. Background technique [0002] Since the 1970s, model-based fault diagnosis methods have always been a hot method that researchers in academia and engineering application fields have paid attention to. Filter-based methods mainly include methods based on Kalman filter, methods based on strong tracking filter, methods based on fuzzy Kalman filter and methods based on particle filter. (particle filter) method. Although some results have been achieved, there are still some problems. In the past, when the filter method was used for fault prediction, the state of the fault parameter was estimated first, and then the state was compared with the set threshold value to judge the fault. This will lead to that when the set threshold is too close to th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4063
CPCG05B19/4063G05B2219/31304
Inventor 姚禹张邦成柳虹亮姜大伟朱雁鹏费树明高智蔡赟陈立岩武雪闫子奇
Owner CHANGCHUN UNIV OF TECH
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