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
CN106569487AInactive Publication Date: 2017-04-19BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2017-04-19
Estimated Expiration
Not applicable Β· inactive patent

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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.
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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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