A Fault Identification Method for Motion Control System Under Sensor Saturation Constraint

Abstract

A fault identification method for motion control systems under sensor saturation constraints, modeling the motion control system; obtaining and discretizing the system state space equation; constructing intermediate observers; and solving the intermediate observers considering sensor saturation constraints through matrix inequalities Gain, the nominal intermediate observer gain; the fault is estimated using the intermediate observer. The effectiveness of this method is verified by comparative experiments with a nominal intermediate observer. The method of the present invention considers the situation of actuator failure in the motion control system, and the present invention is not limited to this example, and its estimation effect can meet the accuracy and real-time requirements of practical applications.

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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