A Fault Detection Method for Multiple AGV Fixed Range Cruise System with Low Communication and Computational Consumption

Abstract

The invention provides a multi-AGV fixed-distance cruise system fault detection method with low communication and calculation consumption, and belongs to the technical field of fault detection. The technical solution is: firstly construct a discrete time invariant state space model of multi-AGV fixed-range cruise system including AGV actuator failure; secondly, set up an event trigger mechanism for information communication; then construct an error system including event-triggered transmission error influence and H ∞ / H ∞ type of performance indicators. The beneficial effects of the present invention are: the present invention can reduce the communication consumption of the multi-AGV fixed-range cruise system under the framework of the event trigger mechanism, reduce the calculation consumption of the online fault diagnosis process, and realize the optimal fault of the multi-AGV fixed-range cruise system detection.

Description

technical field [0001] The invention relates to the technical field of fault detection, in particular to a fault detection method for a multi-AGV fixed-range cruise system with low communication and calculation consumption. Background technique [0002] Today, with the rapid development of science and technology and intelligent manufacturing, multi-AGV systems are becoming more and more intelligent, and have been widely used in the logistics and warehousing industry. When the multi-AGV system is running normally, fixed-distance cruising is one of the operating states. Once the multi-AGV system fails during the fixed-distance cruising process, the AGV car may be damaged, which will seriously cause the paralysis of the entire logistics warehouse, resulting in huge economic loss. [0003] The traditional observer built in the form of a fault filter to detect faults can no longer meet the purpose of fast fault detection online, and the use of a diagnostic observer to construct ...

AI Technical Summary

Problems solved by technology

When the multi-AGV system is running normally, fixed-distance cruising is one of the operating states. Once the multi-AGV system fails during the fixed-distance cruising process, the AGV trolley may be damaged. In severe cases, the entire logistics warehouse will be paralyzed, resulting in huge economic loss

[0003] The traditional observer built in the form of a fault filter to detect faults can no longer meet the purpose of fast online fault detection, and the use of a diagnostic observer to build a reduced-order observer has become a new online diagnosis method

At the same time, the data information of vehicles in the multi-AGV fixed-distance cruise system is huge, and the traditional periodic data transmission has caused great unnecessary communication loss, and the use of event-triggered mechanism for data transmission has become common.

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