A collaborative fault-tolerant control method and control system for a mixed-order electromechanical system
An electromechanical system, fault-tolerant control technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as poor cooperative fault-tolerant control effects, and achieve the effect of improving accuracy
Active Publication Date: 2021-11-12
HEILONGJIANG UNIV
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[0003] In order to solve the problem that the cooperative fault-tolerant control effect of the hybrid electromechanical system is not good under the condition that the driver or the actuator generates unknown or unpredictable errors, the present invention provides a cooperative fault-tolerant control method and control system for the hybrid electromechanical system
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[0050]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.
[0051] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0052] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.
[0053] Such as figure 1 As shown, the collaborative fault-tolerant control method of the mixed-order electromech...
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In order to solve the problem that the cooperative fault-tolerant control effect of the hybrid electromechanical system is not good under the condition that the driver or the actuator generates unknown or unpredictable errors, the present invention provides a cooperative fault-tolerant control method and control system of the mixed-order electromechanical system, which belongs to the electromechanical system Collaborative control area. The invention includes: establishing a model of a controlled mixed-order electromechanical system including driver or actuator errors; obtaining different-order synchronous tracking errors and sliding mode tracking errors of each controlled mixed-order electromechanical system; obtaining neural network adaptive law and fault-tolerant automatic Adaptive law, fault-tolerant adaptive law and neural network adaptive law are used to estimate the error and dynamic parameters of the driver or actuator in the mixed-order electromechanical system model; according to the established model, combined with synchronous tracking error and sliding mode tracking The error, neural network adaptive law and fault-tolerant adaptive law are used to obtain the distributed mixed-order cooperative control law, and then the control quantities of each controlled mixed-order electromechanical system are obtained.
Description
technical field [0001] The invention relates to a cooperative control technology, in particular to a cooperative fault-tolerant control method, control system and storage device of a mixed-order electromechanical system, belonging to the field of cooperative control of electromechanical systems. Background technique [0002] The multi-agent cooperative control technology comes from the cooperative movement phenomenon of some animals in nature, and it mainly includes research directions such as consensus control, formation control, estimation and optimization. Consistency involves the control of each agent to achieve a certain balance or consistency under the action of the cooperative consensus control law. Consistency control mainly includes consistency adjustment problem and consistency tracking problem. Among them, consensus regulation involves each agent reaching an unpredetermined equilibrium state according to their respective initial states, also called leaderless con...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王一光王国涛
Owner HEILONGJIANG UNIV