An active fault-tolerant control method for an electro-hydraulic servo system

Abstract

The invention discloses an active fault-tolerant control method of an electro-hydraulic servo system. The steps of the method are as follows: firstly establish a mathematical model of the position servo system of the double-rod hydraulic cylinder; Active fault-tolerant controller design; finally adjust parameters for active fault-tolerant control of the electro-hydraulic servo system: adjust the gain to make the extended state observer estimate the matching additive fault and model uncertainty of the system, and make the disturbance observer estimate the non-matching additive of the system Faults and model uncertainties allow the position output of the electrohydraulic position servo to track the desired position command. The invention not only enables the system to achieve the desired tracking effect, but also reduces the number of sensors installed in the system, has the advantages of strong anti-interference, low cost and continuous control voltage, and is more conducive to practical application in engineering.

Description

technical field [0001] The invention belongs to the technical field of electro-hydraulic servo control, in particular to an active fault-tolerant control method of an electro-hydraulic servo system. Background technique [0002] Electro-hydraulic servo systems are widely used in various fields such as aviation, aerospace, weapons, and industry due to their outstanding advantages of high power density and fast dynamic response. In recent years, with the rapid development of basic disciplines such as signal processing technology, artificial intelligence technology and control theory, hydraulic system fault diagnosis has received extensive attention at home and abroad and made important progress. The performance and stability of the electro-hydraulic servo system are closely related to the design of the controller. However, unexpected situations and abnormal events that are not fully considered in the design of the system controller may cause the controller to fail to meet the ...

AI Technical Summary

Problems solved by technology

This passive design brings convenience to controller engineering and makes the system control performance insensitive to possible faults. However, passive fault-tolerant control is always designed based on known fault modes, and it is not robust to other faults. And the more failure modes are considered, the more conservative the robust controller design is, and the less performance can be recovered. The more serious disadvantage is that the over-conservative passive fault-tolerant controller design even has to sacrifice the fault-free system. Control performance to ensure the stability of the system when potential failures occur

[0006] 2. Lack of effective active fault-tolerant control design method

Although active fault-tolerant control can recover performance degradation caused by faults in a targeted manner without causing any negative impact on non-faulty systems, its design is difficult and stability analysis is difficult, especially for high-level electro-hydraulic servo systems. For nonlinear control systems with large uncertainties, how to break through these bottlenecks and achieve effective integration with online fault detection strategies to fully automate fault detection / identification and fault-tolerant control is a more difficult task

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