Event triggering fault-tolerant control method for double-drive gantry platform

Abstract

The invention discloses an event triggering fault-tolerant control method of a double-drive gantry platform, and relates to the technical field of motion control of a gantry platform of a chip mounter. The invention aims to solve the problems of motor failure risk, position error, complex modeling and uncertain working condition due to the fact that a control system of a dual-drive linear motor gantry platform of a chip mounter adopts a dual-motor interconnection driving mode. According to the method, a preset performance virtual controller, a fault-tolerant feedback controller, a fault-tolerant adaptive law and an event triggering robust controller are designed respectively, and the sum of the controllers and adaptive rate output is used as a master control signal of the chip mounter double-drive gantry platform; and performing preset performance event trigger fault-tolerant control on the Y-axis dual motors of the dual-drive gantry platform of the chip mounter by using the master control signal. On the premise of limited calculation and communication resources, when the platform breaks down, stable operation can be continued under the preset performance, and the method is suitable for the control field of the double-drive gantry platform.

Description

Technical Field

[0001] The invention belongs to the technical field of motion control of a gantry platform of a placement machine, and in particular relates to an event-triggered fault-tolerant control technology for an interconnected system. Background Art

[0002] In the field of modern high-end industrial manufacturing, the Y-direction drive structure of the placement machine generally tends to adopt a dual-drive linear motor gantry platform design. This type of motion platform achieves efficient operation through the motor drive system on both sides, that is, two parallel linear motors with the same model and performance are configured in the Y-axis direction to jointly undertake the driving task. Compared with the traditional unilateral drive method, the dual-drive linear motor gantry platform shows significant advantages in high speed, high precision and high thrust, greatly improving the operation efficiency of the placement machine. It is particularly worth mentioning that the linear motor, as the actuator of the platform, effectively avoids many disadvantages brought about by the rotary motor and ball screw mechanical mode that the traditional dual-drive gantry platform relies on. These disadvantages include numerous intermediate transmission links, complex system structure, insufficient overall stiffness, and significant return clearance, friction and elastic deformation. Therefore, the new dual-drive gantry platform has received extensive attention and research in the field of high-end industrial manufacturing due to its outstanding performance, and has gradually become the mainstream trend of industry applications.

[0003] However, during the machine operation cycle, the dual-motor interconnected drive mode improves the overall system performance, but also brings more complex control challenges and potential risks. Specifically, this method faces the following main problems:

[0004] 1. Motor failure risk: During operation, one motor or both motors may partially fail or even become completely stuck at the same time, which will directly affect the stability and reliability of the system.

[0005] 2. Position error problem: Although two permanent magnet synchronous linear motors of exactly the same model are used in the dual linear drive gantry system, the mechanical coupling effect between the two motors may still cause position errors, thus affecting the patch accuracy;

[0006] 3. System modeling complexity: The system modeling process of the dual-drive gantry platform is extremely complex, and there are a large number of coupling relationships, which undoubtedly increases the difficulty of system analysis and control;

[0007] 4. Uncertainty in actual operation: In actual use, the SMT gantry system will inevitably encounter complex working conditions such as sudden load changes, measurement noise, and sudden increase in friction. If the motor lacks an effective fault-tolerant control mechanism, the system is likely to suffer serious damage due to these emergencies, or even cause safety accidents.

[0008] In summary, how to effectively deal with the above-mentioned control challenges and potential risks while ensuring the high-performance operation of the dual-drive linear motor gantry platform has become a technical problem that needs to be solved urgently. Summary of the invention

[0009] The present invention aims to solve the problems that the control system of a dual-drive linear motor gantry platform of a placement machine adopts a dual-motor interconnected drive mode, which has the risk of motor failure, position error, complex modeling and uncertain working conditions. An event-triggered fault-tolerant control method for a dual-drive gantry platform is provided.

[0010] An event-triggered fault-tolerant control method for a dual-drive gantry platform, comprising:

[0011] A preset performance virtual controller, a fault-tolerant feedback controller, a fault-tolerant adaptive law and an event-triggered robust controller are designed respectively, and the sum of the outputs of each controller and the adaptive rate is used as the total control signal of the dual-drive gantry platform of the placement machine. The total control signal is used to perform preset performance event-triggered fault-tolerant control on the Y-axis dual motors of the dual-drive gantry platform of the placement machine.

[0012] Furthermore, the expression of the above preset performance virtual controller is:

[0013] The preset performance virtual controller α i The expression is:

[0014]

[0015] Among them, β is the error information, c i is the positive parameter to be designed for the i-th interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, Φ is a computable known function, and N is the order of interconnected subsystems, φ i,1 is the known nonlinear term of the first state vector perturbation in the ith interconnected subsystem, τ=1,...,m i , m i is the total number of state vectors in the ith interconnected subsystem, b=1,2,...,p, where p represents the interconnection coupling degree of the interconnected subsystems, is an unknown constant, y τ is the output of the τth state vector, y 1,d is the actual output of the first interconnected subsystem, κ1=q(e o )(Γ1-Γ2),κ2=q(e o )(Γ1+Γ2), e1 is the tracking error of the first interconnected subsystem, e0 is the initial value of the tracking error, ξ is the barrier function, χ ε (t) is the proportionality coefficient, c ε and are all constants.

[0016] Furthermore, the expression of the error information β is:

[0017]

[0018] Furthermore, the above expression for the barrier function ξ is:

[0019]

[0020] in, s is the time-varying function f(·) in the dependent variable e i The independent variable, e i is the tracking error of the i-th interconnected subsystem.

[0021] Furthermore, the above time-varying function f(·) is a continuous and differentiable odd function, satisfying:

[0022] and

[0023] and Where λ is a positive constant.

[0024] Furthermore, the above fault-tolerant feedback controller The expression is:

[0025]

[0026] Among them, c i is the positive parameter to be designed for the i-th interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, is the estimated value of the upper bound of the output when the actuator in the i-th interconnected subsystem fails completely, ∈ i is the coefficient, S i is the state parameter of the ith interconnected subsystem, σ i is any integrable positive time-varying function, z i =x i -α i , x i is the state vector in the i-th interconnected subsystem, α iis the preset performance virtual controller of the i-th interconnected subsystem.

[0027] Furthermore, the expression of the above fault-tolerant adaptive law includes:

[0028]

[0029] in, They are The first derivative of is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, is the estimated value of the inverse of the upper bound of the output when the actuator fails partially, is the estimated value of the upper bound of the output when the actuator fails completely, γ is a known positive constant, is a parameter containing position error information and event trigger sampling error, z i,j =x i,j -α i,j-1 , x i,j is the jth state vector in the i-th interconnected subsystem, α i,j-1 is the preset performance virtual controller of the j-1th state vector in the ith interconnected subsystem, S i,j is the state parameter of the jth state vector in the ith interconnected subsystem, σ i,j is any integrable positive time-varying function, is the fault-tolerant feedback controller of the ith interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, ∈ i is the coefficient, c i,Θ 、c i,μ 、c i,ζ , P i and Q i are all known constants.

[0030] Furthermore, the expression of the above event triggering the robust controller is:

[0031]

[0032] Among them, u i and are the input and output of the event-triggered robust controller, c x and c y are all design parameters greater than 0, g i is the internal state parameter of the ith interconnected subsystem, is the estimated value of the event trigger sampling error,

[0033] An event-triggered fault-tolerant control device for a dual-drive gantry platform, the event-triggered fault-tolerant control device comprising a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement an event-triggered fault-tolerant control method for a dual-drive gantry platform as described above.

[0034] A computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement an event-triggered fault-tolerant control method for a dual-drive gantry platform as described above.

[0035] Beneficial effects of the present invention:

[0036] The present invention proposes an event-triggered fault-tolerant control method suitable for the Y-axis dual-drive gantry platform of a placement machine. Under the premise of limited computing and communication resources, when the actuator of the dual-drive gantry platform fails, it can still continue to operate stably under the pre-set performance to a certain extent. The event-triggered fault-tolerant control method described in the present invention is implemented based on preset performance, event triggering and fault-tolerant algorithm. Among them, for the nonlinear interconnected Y-axis gantry platform with unknown virtual control coefficients, an adaptive fault-tolerant control algorithm is designed based on a two-step design method, so that the controller can effectively cope with the adverse effects caused by unknown actuator failures; the flexible preset performance control is combined with the fault-tolerant control to achieve the predetermined transient performance and meet the steady-state performance of the system. In addition, under a relatively fixed control structure, the preset performance behavior can be achieved by adjusting only a few key parameters and time-varying functions, which means that compared with the general preset performance control, this method provides greater flexibility. Finally, an adaptive event-triggered algorithm is designed under the premise of ensuring system performance, which can effectively save computing and communication resources and avoid the impact of Zeno behavior on the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of an event-triggered fault-tolerant control method of a dual-drive gantry platform based on preset performance according to the present invention;

[0038] Figure 2 is a curve diagram of tracking trajectory position error variation of the interconnection subsystem 1 in the embodiment;

[0039] Figure 3 is a curve diagram of tracking trajectory position error variation of the interconnection subsystem 2 in the embodiment;

[0040] Figure 4 It is a curve diagram of the output of the system when a complete failure occurs in the actuator of the interconnected subsystem 1 in the embodiment;

[0041] Figure 5 is an output curve diagram of the system when the actuator of the interconnection subsystem 1 in the embodiment fails partially;

[0042] Figure 6 is an output curve diagram of the system when a complete failure occurs in the actuator of the interconnected subsystem 2 in the embodiment;

[0043] Figure 7 is an output curve diagram of the system when the actuator of the interconnection subsystem 2 in the embodiment fails partially;

[0044] Figure 8 A schematic diagram of a controller event triggering time interval of the interconnection subsystem 1 in an embodiment;

[0045] Fig. 9 Schematic diagram of controller event triggering time interval of the interconnection subsystem 2 in the embodiment. DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0047] Most of the existing research on fault-tolerant control of gantry platforms focuses on single-motor drive and partial actuator failures, and focuses more on improving steady-state performance, with less attention paid to the transient performance of the system. Most of the existing control algorithms consume too many communication resources and have high requirements on the computing performance of the system. This implementation scheme provides an event-triggered fault-tolerant control algorithm based on preset performance, which can effectively handle faults in the dual-drive gantry platform actuators, so that the system can continue to operate according to pre-set performance indicators without consuming too many computing and communication resources. Figures 1 to 9 Specifically describe this embodiment, the event-triggered fault-tolerant control method of a dual-drive gantry platform described in this embodiment, respectively design a preset performance virtual controller, a fault-tolerant feedback controller and an adaptive law, and an event-triggered robust controller, and use the sum of the designed controller outputs as the total control signal of the dual-drive gantry platform of the placement machine, and use the total control signal to perform preset performance event-triggered fault-tolerant control on the Y-axis dual motors of the dual-drive gantry platform of the placement machine. The details are as follows:

[0048] Step 1: Conduct mathematical modeling for the dual-drive gantry platform.

[0049] The dual-drive gantry platform includes M interconnected subsystems. The motors on both sides of the dual-drive gantry platform have cross-coupling terms, so the mathematical model of the motors on both sides of the dual-drive gantry platform is:

[0050]

[0051] Where i = 1, ..., M, j = 1, ..., m i -1, m i is the total number of state vectors in the ith interconnected subsystem, and Respectively represent x i,j and The first derivative of x i,j 、x i,j+1 and are the j, j+1 and mth interconnected subsystems in the i-th interconnected subsystem respectively. i state vector, is the first j state vectors of the ith interconnected subsystem, is the first m of the i-th interconnected subsystem i state vector, is the unknown gain of the jth state vector in the i-th interconnected subsystem, θ i,j (·)and are the jth and mth interconnected subsystems in the i-th interconnected subsystem respectively. i The unknown nonlinear term of the state vector perturbation, φ i,j (·)and are the jth and mth interconnected subsystems in the i-th interconnected subsystem respectively. i The known nonlinear term of the state vector perturbation, Δ i,j (·)and are the jth and mth interconnected subsystems in the i-th interconnected subsystem respectively. i The interconnected coupling terms of the state vectors, is the output of the first i interconnected subsystems, is the output of the ith interconnected subsystem, k = 1, 2, ..., n, n is the total number of actuators, a i,k is the kth actuator parameter in the ith subsystem with known positive and negative sign but unknown size, is the output of the kth actuator in the i-th interconnected subsystem.

[0052] In this embodiment, it is considered that unknown actuator faults include two types: partial failure faults and complete failure faults. The specific fault model is as follows:

[0053]

[0054] Where o represents the serial number of the fault model, o = 1, 2, 3, ..., ρ i,k,o is a bounded unknown constant, u i,k is the normal input of the kth actuator in the ith subsystem, is the fault state parameter of the kth actuator in the ith subsystem under the oth fault model. Actuator failure can be divided into three cases:

[0055] 1. The actuator has no fault, that is ρ i,k,o =0;

[0056] 2. Partial failure of the actuator, i.e. ρ i,k,o =0;

[0057] 3. The actuator fails completely, that is ρ i,k,o ≠0.

[0058] The interconnection coupling term Δ of the jth state vector in the i-th interconnected subsystem above i,j (·) is an unknown smooth function that satisfies the following formula:

[0059]

[0060] in, is an unknown constant, y τ is the output of the τth state vector, τ=1,...,m i , b=1,2,...,p, where p represents the interconnection coupling degree of the interconnected subsystems.

[0061] Step 2: Perform function transformation according to preset performance requirements.

[0062] In this embodiment, the concept of a time-varying scaling function is introduced to ensure that when designing a subsequent control algorithm, multiple specified performance characteristics can be uniformly achieved without repeating the design and stability analysis.

[0063] Define a time-varying function:

[0064] f(·):(-c,c)→(-∞,+∞),

[0065] Where c is a known positive constant, this function satisfies:

[0066] 1. f(·) is a continuous and differentiable odd function, that is, f(0) = 0 and f(x) = -f(-x);

[0067] 2. and

[0068] 3. and Where λ is a positive constant.

[0069] According to the above time-varying function f(·), the preset performance behavior can be described as the following function:

[0070]

[0071] Among them, e0 is the initial value of the tracking error, e i is the tracking error of the i-th interconnected subsystem.

[0072] (ε=1,2,χ ε (t) is the proportional coefficient), this function has the following characteristics:

[0073] 1. χ ε (0) = 1, χ ε (·): (0, +∞) → [0, 1) and its derivative is known to be bounded and continuously differentiable;

[0074] 2. in, c ε and are all constants.

[0075] The tracking error e i Perform function transformation:

[0076] e i =f(s),

[0077] Where s is the time-varying function f(·) in the dependent variable e i The following independent variables.

[0078] You can get:

[0079]

[0080] The above formula includes two cases: e0≥0 and e0<0. In order to facilitate subsequent design, the function can be further transformed:

[0081]

[0082] Where κ1=q(e o )(Γ1-Γ2),κ2=q(e o )(Γ1+Γ2),

[0083] In order to analyze the preset performance behavior of the system using the Lyapunov function, this embodiment further processes η through the following barrier function ξ:

[0084]

[0085] Through the above function transformation, the problem of maintaining the inequality |η(t)|<1 for any t>0 is further transformed into the stability problem of ξ for subsequent design needs. Applying the above key function transformations to the system and using the above-mentioned preset performance can bring many advantages. First, the function transformation converts the specified performance problem into a system stability analysis problem, avoiding the trouble of repeatedly designing the controller. Second, only two parameters need to be adjusted and χ ε , different specified performance behaviors can be achieved without changing the original control framework.

[0086] Step 3: Design a virtual controller with preset performance:

[0087] Define z i,1 =ξ,z i,j =x i,j -α i,j-1 , where j≠1, α i,j-1 is the preset performance virtual controller of the j-1th state vector in the i-th interconnected subsystem.

[0088] Define the semi-positive definite energy function V of the first state vector in the i-th interconnected subsystem i,1 :

[0089]

[0090] in, g i,1 g i,j The lower bound of , γ is a known positive constant, is the maximum error of the absolute value of the state variable of the ith interconnected subsystem.

[0091] Design a virtual controller α with preset performance for the first actuator in the i-th interconnected subsystem i,1 , so that V i,1 The derivative of is negative definite, thus satisfying Lyapunov's theorem, then:

[0092]

[0093] Among them, β is the error information, and e1 is the tracking error of the first interconnected subsystem; c i,1 is the positive parameter to be designed for the first actuator in the i-th interconnected subsystem; The event trigger sampling value of the first actuator in the i-th interconnected subsystem; is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem; Φ is a computable known function, and φ i,1is the known nonlinear term of the first state vector perturbation in the ith interconnected subsystem, y 1,d is the actual output of the first interconnected subsystem, N is the order of interconnected subsystems.

[0094] For the above semi-positive definite energy function V i,1 Taking the derivative and simplifying, we get:

[0095]

[0096] in, g i,j The upper bound of

[0097]

[0098] From Lyapunov's theorem, we know that all signals are bounded and the system is stable. Furthermore, the controller can achieve the specified preset performance characteristics.

[0099] According to the above discussion, the preset performance virtual controller α of the i-th interconnected subsystem i The expression is:

[0100]

[0101] Among them, c i is the positive parameter to be designed for the i-th interconnected subsystem, The event trigger sampling value of the i-th interconnected subsystem.

[0102] Step 4: Design a robust feedback controller to make the intermediate state of the system stable and bounded:

[0103] Define the semi-positive definite energy function V of the kth actuator in the i-th interconnected subsystem i,k :

[0104]

[0105] Design a robust feedback controller α for the kth actuator in the ith interconnected subsystem i,k :

[0106]

[0107] in, is the event-triggered sampling value of the kth actuator in the i-th interconnected subsystem, σ i,k is any integrable positive time-varying function, c i,kis the positive parameter to be designed for the kth actuator in the i-th interconnected subsystem, S i,k is the state parameter of the kth actuator in the ith interconnected subsystem.

[0108] For the above semi-positive definite energy function V i,k Taking the derivative and simplifying we get:

[0109]

[0110] From Lyapunov's theorem, we know that all intermediate states of the system are stable and bounded.

[0111] Step 5: Design a fault-tolerant feedback controller and adaptive law.

[0112] Define the mth interconnected subsystem i The semi-positive definite energy function of the state vector

[0113]

[0114] in, is the estimated value of the inverse of the upper bound of the output when the actuator fails partially, is the estimated value of the upper bound of the output when the actuator fails completely, P i and Q i are all known constants.

[0115] Design a fault-tolerant feedback controller for the i-th interconnected subsystem for:

[0116]

[0117] Among them, ∈ i is the coefficient.

[0118] The actual control law of the control system i for:

[0119]

[0120] Design three fault-tolerant adaptive laws for the i-th interconnected subsystem:

[0121]

[0122] in, is a parameter containing position error information and event trigger sampling error. represents the sum of the system position tracking errors, c i,Θ 、c i,μ and c i,ζ are all known constants.

[0123] For the above semi-positive definite energy function V i,mi Taking the derivative and simplifying we get:

[0124]

[0125] Among them, C i is a known constant related to the system itself.

[0126] Therefore, the closed-loop system is asymptotically stable, that is, the motion trajectory of the dual-drive gantry platform of the placement machine will gradually converge to the target reference signal.

[0127] Step 6: Design an event-triggered robust controller.

[0128] The actual control law u of the control system in step 5 i As the input of the event-triggered robust controller, the event-triggered robust controller can be further obtained:

[0129]

[0130] in, is the output of the event-triggered robust controller, c x and c y are all design parameters greater than 0. g i is the internal state parameter of the ith interconnected subsystem, An estimate of the sampling error for the event trigger.

[0131] Using this event to trigger the controller can avoid the occurrence of Zeno phenomenon and meet the control effect.

[0132] Apply the control system designed in steps three, four, five and six to the dual-drive gantry experimental platform. By designing various parameters of the controller and adjusting the adaptive law coefficient, the dual-drive gantry platform can still maintain the preset performance parameters when an actuator fails. Specific embodiment:

[0134] Assuming that the dual-drive gantry platform consists of two interconnected subsystems, each subsystem has two states, the mathematical model is:

[0135]

[0136] Among them, the unknown control function is taken as: g 1,1 =0.25sin(x 1,1 )+6,

[0137]

[0138] Δ 1,1 =x 1,1 x2,1 ,

[0139] Δ 1,2 =cos(x 1,1 x 2,1 ),

[0140] Δ 2,1 =0.25x 1,1 +cos(x 2,1 ),

[0141] Δ 2,2 =0.5x 1,1 x 2,1 ;

[0142]

[0143] φ 2,1 = sin(x 2,1 ),

[0144]

[0145] Other system parameters are:

[0146]

[0147] c 1,Θ =c 2,Θ =1.2,

[0148] c 1,μ =c 2,μ =0.6,

[0149] c 1,ζ =c 2,ζ =0.02,

[0150]

[0151] c y,1 =c y,2 =1,

[0152] γ1=γ2=10,

[0153] P1=P2=10,

[0154] Q1=Q2=10.

[0155] The target tracking trajectory is taken as:

[0156] y 1,d = sin(t)+0.1,

[0157] y 2,d =cos(t)-0.1.

[0158] The preset performance time-varying function is taken as:

[0159]

[0160] Figure 2 and Figure 3 The figure shows the tracking error curve of the interconnected system. Compared with the traditional PID algorithm, this algorithm can pre-set performance parameters and has better performance, smaller errors and higher control accuracy.

[0161] Figure 4 and Figure 6 Shown is the output curve of the system when the actuator fails completely.

[0162] Figure 5 and Figure 7 Shown is the output curve of the system when the actuator partially fails.

[0163] Figure 8 and Fig. 9 Shown are the time intervals for event triggering of the interconnected system.

[0164] in addition, Figures 2 to 7 The vertical coordinate units shown are all position ratio relationship information; Figure 8 and Fig. 9 The vertical axis is the time interval of event triggering.

[0165] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. An event-triggered fault-tolerant control method for a dual-drive gantry platform, characterized in that: include: A preset performance virtual controller, a fault-tolerant feedback controller, a fault-tolerant adaptive law and an event-triggered robust controller are designed respectively, and the sum of the outputs of each controller and the adaptive rate is used as the total control signal of the dual-drive gantry platform of the placement machine. The total control signal is used to perform preset performance event-triggered fault-tolerant control on the Y-axis dual motors of the dual-drive gantry platform of the placement machine.

2. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, characterized in that: The expression of the preset performance virtual controller is: The preset performance virtual controller α i The expression is: Among them, β is the error information, c i is the positive parameter to be designed for the i-th interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, Φ is a computable known function, and N is the order of interconnected subsystems, φ i,1 is the known nonlinear term of the first state vector perturbation in the ith interconnected subsystem, τ=1,...,m i , m i is the total number of state vectors in the ith interconnected subsystem, b=1,2,...,p, where p represents the interconnection coupling degree of the interconnected subsystems, is an unknown constant, y τ is the output of the τth state vector, y 1,d is the actual output of the first interconnected subsystem, κ1=q(e o )(Γ1-Γ2),κ2=q(e o )(Γ1+Γ2), e1 is the tracking error of the first interconnected subsystem, e0 is the initial value of the tracking error, ξ is the barrier function, ε=1,2,χ ε (t) is the proportionality coefficient, c ε and are all constants.

3. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 2, characterized in that: The expression of the error information β is:

4. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 3, characterized in that: The expression of the barrier function ξ is: in, s is the time-varying function f(·) in the dependent variable e i The independent variable, e i is the tracking error of the i-th interconnected subsystem.

5. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 4, characterized in that: The time-varying function f(·) is a continuous and differentiable odd function that satisfies: and and Where λ is a positive constant.

6. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, characterized in that: The fault-tolerant feedback controller The expression is: Among them, c i is the positive parameter to be designed for the i-th interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, is the estimated value of the upper bound of the output when the actuator in the i-th interconnected subsystem fails completely, ∈ i is the coefficient, S i is the state parameter of the ith interconnected subsystem, σ i is any integrable positive time-varying function, z i =x i -α i , x i is the state vector in the i-th interconnected subsystem, α i is the preset performance virtual controller of the i-th interconnected subsystem.

7. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, characterized in that: The expression of the fault-tolerant adaptive law includes: in, They are The first derivative of is the maximum estimated value of the absolute value of the state variable of the ith interconnected subsystem, is the estimated value of the inverse of the upper bound of the output when the actuator fails partially, is the estimated value of the upper bound of the output when the actuator fails completely, γ is a known positive constant, is a parameter containing position error information and event trigger sampling error, z i,j =x i,j -α i,j-1 , x i,j is the jth state vector in the i-th interconnected subsystem, α i,j-1 is the preset performance virtual controller of the j-1th state vector in the ith interconnected subsystem, S i,j is the state parameter of the jth state vector in the ith interconnected subsystem, σ i,j is any integrable positive time-varying function, is the fault-tolerant feedback controller of the ith interconnected subsystem, is the event trigger sampling value of the i-th interconnected subsystem, ∈ i is the coefficient, c i,Θ 、c i,μ 、c i,ζ , P i and Q i are all known constants.

8. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, characterized in that: The expression of the event-triggered robust controller is: Among them, u i and are the input and output of the event-triggered robust controller, c x and c y are all design parameters greater than 0, g i is the internal state parameter of the ith interconnected subsystem, is the estimated value of the event trigger sampling error, 9. An event-triggered fault-tolerant control device for a dual-drive gantry platform, characterized in that: The event-triggered fault-tolerant control device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement an event-triggered fault-tolerant control method for a dual-drive gantry platform as described in one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement an event-triggered fault-tolerant control method for a dual-drive gantry platform as described in any one of claims 1 to 8.

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