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Active fault tolerance control method for servo system

A technology of servo system and fault-tolerant control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as unavoidable failures

Active Publication Date: 2016-06-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, a large number of practices have shown that even so, failures are still inevitable during system operation

Method used

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  • Active fault tolerance control method for servo system
  • Active fault tolerance control method for servo system
  • Active fault tolerance control method for servo system

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Embodiment Construction

[0033] Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

[0034] Step 1, Modeling of the system

[0035] According to the method of mechanism modeling, combined with the structure of the motor and the physical theorem, the dynamic model of the motor servo system is established:

[0036] R I + L I · - C e θ m · = U K d I = J m θ m · · + b m θ m · + k ( θ m - i m θ d ) i m k ( θ m - i m θ d ) = J d θ d · · + b d θ d · - - - ( 1 )

[0037] Among them, U is voltage, R is stator resistance, I is stator current, L is stator inductance, θ m Is the motor rotation angle, Is the motor speed, J m Is the moment of inertia of the motor, θ d Is the load angle, Is the load speed, J d Indicate...

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Abstract

The invention relates to an active fault tolerance control method for a servo system, and the method comprises the steps: 1, enabling a motor servo system to be modeled as a linear model with an unknown input and an executor fault; 2, designing a robust fault estimator, and estimating a system fault; 3, designing a feedback fault tolerance controller according to the estimated system fault. According to the invention, the method obtains the fault information of the system through the fault estimator, enables the motor servo system to be able to adjust the parameter and structure of the controller again according to the fault condition, thereby guaranteeing the stability of the system after a fault, and achieving the active processing of the fault. Moreover, the method is high in flexibility.

Description

Technical field [0001] The invention relates to the technical field of electromechanical control, and in particular to an active fault-tolerant control method of a servo system. Background technique [0002] As the main energy power equipment of modern industry, servo motors are widely used in various fields of life, such as machine tools, printing, security, and communications. With the continuous progress and development of science and technology, the complexity of the servo control system has become higher and higher. Some large-scale servo control systems, such as artillery position servo system, radar antenna active tracking system, aviation turret servo system, etc., due to the particularity of the working environment and working conditions, once a failure occurs, it will cause huge property losses and casualties , And even led to the paralysis of the entire system. Therefore, modern industrial and military fields have put forward higher requirements for the safety, relia...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 任雪梅郭富民李林伟曾添一乔大鹏李原
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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