An Observer-Based Fault Detection Method for Servo System
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
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[0061] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0062] 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:
[0063] In Step 1, the two-motor servo system is modeled as a linear model with unknown inputs, actuator faults, and sensor faults.
[0064] 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):
[0065]
[0066] 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, J...
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