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A Fuzzy Adaptive Compensation Control Method for Actuator Time Delay and Failure

A fuzzy self-adaptive and compensatory control technology used in the field of robotics

Active Publication Date: 2020-07-10
GUANGZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, none of the two issues are considered at the same time, especially in some special systems

Method used

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  • A Fuzzy Adaptive Compensation Control Method for Actuator Time Delay and Failure
  • A Fuzzy Adaptive Compensation Control Method for Actuator Time Delay and Failure
  • A Fuzzy Adaptive Compensation Control Method for Actuator Time Delay and Failure

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Embodiment Construction

[0029]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0030] see figure 1 , is a schematic flow chart of an embodiment of the fuzzy adaptive compensation control method for actuator time lag and failure provided by the present invention, including steps 101 to 102, and each step is specifically as follows:

[0031] Step 101: Establish an industrial system model with actuator failure; the industrial system model includes a description function of the time-delay actuator failure fault.

[0032] In this embodiment, the ...

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Abstract

The invention discloses a fuzzy adaptive compensation control method in performer time lag and failure; the method comprises the following steps: building an industrial system model with a performer failure, wherein the industrial system model comprises time lag performer failure fault description functions; building a virtual controller and virtual controller satisfying adaptive rules according to preset transient performance parameters, thus controlling the industrial system model tracking errors when the time lag performer failure faults happen. The method can ensure the system transient tracking performance stability when the performer simultaneously has time lag and failure.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a fuzzy self-adaptive compensation control method for actuator time lag and failure. Background technique [0002] In the actual robot system, especially the robot control system, its system components such as actuators may suddenly fail during operation, such as gear stuck, discontinuous power supply of the execution structure, signal attenuation, etc. This kind of failure is usually uncertain in time output value and mode, which will seriously affect the tracking performance of the system, and even lead to system instability and catastrophic accidents. The existing technologies mainly include synovial film control mode, adaptive control method, fault-tolerant control method, etc., but because there is no failure uncertainty, the above methods generally have poor effect and large errors. [0003] In addition, time delays exist in most physical systems, including the operation of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/0275G05B13/042
Inventor 朱厚耀王建晖黄运昌陈文力陈子聪
Owner GUANGZHOU UNIVERSITY
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