Motion control system fault identification method under sensor saturation constraints

Abstract

The invention discloses a motion control system fault identification method under sensor saturation constraints, comprising the following steps: modeling a motion control system; obtaining and discretizing a state space equation of the system; constructing an intermediate observer; calculating an intermediate observer gain considering sensor saturation constraints and a nominal intermediate observer gain through a matrix inequality; and estimating a fault by using the intermediate observer. The effectiveness of the method is verified through a contrast experiment with a nominal intermediate observer. The method of the invention considers the actuator failure of the motion control system and is not limited to the example, and meanwhile, the estimation effect of the method can meet the requirements for precision and real-time performance of practical application.

Description

technical field [0001] The invention belongs to the field of industrial technology, and specifically aims at the fault identification problem of a motion control system under the sensor saturation constraint, and proposes a solution method of an intermediate observer considering the sensor saturation constraint. Background technique [0002] With the acceleration of the industrial automation process, the motion control system has played an increasingly important role. Due to physical or technical limitations, the sensor cannot provide a signal of infinite amplitude, so the phenomenon of "sensor saturation" occurs. Under the constraint of sensor saturation, the received output signal is incomplete, which makes it difficult for the observer to make an accurate estimation of the fault, which severely limits the application of the traditional estimator design scheme. [0003] In the case of sensor saturation, if the fault can be identified, it will undoubtedly play an important...

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Problems solved by technology

However, although the nominal intermediate observer has a certain degree of robustness, because it does not take into account the constraints of sensor saturation, it is impossible to obtain the desired effect only by adjusting the parameters.

Based on H ∞ The fault estimation method of the performance index ensures the fault estimation performance by suppressing the influence of the disturbance on the output estimation error. However, if the signal loss caused by the sensor saturation constraint is too large, the estimation error will be enlarged accordingly, so the ideal estimation effect cannot be achieved.

The sliding mode observer needs prior information about the fault, such as the upper bound of the fault derivative and the upper bound of the fault itself, but this information cannot be obtained in practice

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