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Fault detection method for servo system based on observer

A fault detection and servo system technology, applied in the direction of test/monitoring control system, general control system, control/regulation system, etc., can solve problems such as economic and property losses, and achieve the effect of reducing impact

Inactive Publication Date: 2017-04-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some large servo systems, such as anti-aircraft gun weapon systems, radar servo systems, ship automatic steering devices, etc., due to the complexity and particularity of their working environment, once the system fails, it will cause huge economic and property losses

Method used

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  • Fault detection method for servo system based on observer
  • Fault detection method for servo system based on observer
  • Fault detection method for servo system based on observer

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Embodiment Construction

[0062] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0063] Such as figure 1 , 2 , 3, the present embodiment discloses a fault detection method based on an observer-based servo system, comprising the following steps:

[0064] In Step 1, the two-motor servo system is modeled as a linear model with unknown inputs, actuator faults, and sensor faults.

[0065] According to the method of mechanism modeling, combined with the structure and physical theorems of the motor, the dynamic model of the dual-motor servo system is established, as shown in formula (1):

[0066]

[0067] Among them, i=1, 2, U i is the voltage of the i-th motor, R i is the ith stator resistance, I i is the ith stator current, L i is the ith stator inductance, θ mi is the i-th motor rotation angle, is the speed of the i-th motor, J mi is the moment of inertia of the i-th motor, θ d is the load rotation angle, is the load speed,...

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Abstract

The invention discloses a fault detection method for a servo system based on an observer and relates to a fault detection method for a servo system, which belongs to the technical field of electromechanical failure detection. The method comprises the following steps of 1, modeling a dual-motor servo system as a linear model with an unknown input, an actuator fault and a sensor failure; 2, generating a residual signal by a Kalman filtering observer-based residual generator and conducting the fault detection and logic judgment; 3, through a norm-based residual evaluation function and a fixed threshold value, conducting the fault detection and logical judgment to detect a fault signal, and completing the fault detection of the dual-motor servo system. According to the technical scheme of the invention, the Kalman filtering observer-based residual generator reduces the influence of the external interference on the dual-motor servo system. Meanwhile, based on the norm-based residual evaluation function and the fixed threshold-value logical judgment, the fault signal of the system can be effectively detected.

Description

technical field [0001] The invention belongs to the technical field of electromechanical fault detection, and in particular relates to a fault detection method of a servo system based on an observer. Background technique [0002] As a feedback control system used to accurately track or reproduce a certain process, the servo system is widely used in various fields of national defense and industrial production, such as automatic tracking control of radar antennas, turret systems of tanks and warships, robot position Attitude control, medical equipment, production of CNC machine tools and precision manufacturing of optical instruments, etc. With the continuous progress and development of modern science and technology, on the one hand, the complexity of the servo system is becoming higher and higher, and on the other hand, people have higher and higher requirements for various performances of the servo system. Some large servo systems, such as anti-aircraft gun weapon systems, ...

Claims

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0243
Inventor 任雪梅郭富民李林伟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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