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

Abstract

The application discloses an event-triggered fault-tolerant control method of a double-drive gantry platform and relates to the motion control technical field of a chip mounter gantry platform. The application is aimed at solving the problems of the double-motor interconnection driving mode of the control system of a double-drive linear motor gantry platform of a chip mounter, the motor failure risk, the position error, the complex modeling and the uncertain working condition. The application designs a preset performance virtual controller, a fault-tolerant feedback controller, a fault-tolerant adaptive law and an event-triggered robust controller, respectively, and uses the sum of the outputs of the controllers and the adaptive rate as the total control signal of the double-drive gantry platform of the chip mounter. The total control signal is used for preset performance event-triggered fault-tolerant control of Y-axis double motors of the double-drive gantry platform of the chip mounter. Under the premise of limited calculation and communication resources, when the platform fails, the application can continue to stably operate under the preset performance, and is suitable for the control field of the double-drive gantry platform.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology for pick-and-place machine gantry platforms, and particularly relates to event-triggered fault-tolerant control technology for interconnect systems. Background Technology

[0002] In modern high-end industrial manufacturing, the Y-axis drive structure of pick-and-place machines generally tends to adopt a dual-drive linear motor gantry platform design. This type of motion platform achieves efficient operation through a dual-motor drive system, specifically by configuring two parallel linear motors of identical model and performance along the Y-axis to jointly undertake the drive task. Compared to the traditional single-sided drive method, the dual-drive linear motor gantry platform exhibits significant advantages in high speed, high precision, and high thrust, greatly improving the operational efficiency of the pick-and-place machine. Particularly noteworthy is that the linear motor, as the actuator of this platform, effectively avoids many drawbacks associated with the rotary motor and ball screw mechanical mode relied upon by traditional dual-drive gantry platforms. These drawbacks include numerous intermediate transmission links, complex system structure, insufficient overall rigidity, and significant issues such as backlash, friction, and elastic deformation. Therefore, the new dual-drive gantry platform, with its outstanding performance, has received widespread attention and research in the high-end industrial manufacturing field and is gradually becoming the mainstream trend in industry applications.

[0003] However, during the machine's operating cycle, while the dual-motor interconnected drive method improves the overall system performance, it 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 or both motors may experience partial failure or even complete jamming, which will directly affect the stability and reliability of the system.

[0005] II. Position Error Issue: Although two permanent magnet synchronous linear motors of the same model are selected in the dual linear drive gantry system, the mechanical coupling effect between the two motors may still cause position errors, which in turn affect the placement accuracy.

[0006] III. System Modeling Complexity: The system modeling process of the dual-drive gantry platform is extremely complex and involves a large number of coupling relationships, which undoubtedly increases the difficulty of system analysis and control.

[0007] IV. Uncertainties in Actual Operation: In actual use, the pick-and-place machine gantry system will inevitably encounter complex operating conditions such as sudden load changes, measurement noise, and sudden increases in friction. If the motor lacks an effective fault-tolerant control mechanism, the system may suffer serious damage due to these unexpected situations, or even cause a safety accident.

[0008] In summary, how to effectively address the aforementioned control challenges and potential risks while ensuring the high-performance operation of the dual-drive linear motor gantry platform has become a pressing technical problem that needs to be solved. Summary of the Invention

[0009] This invention addresses the problems of motor failure risk, position error, complex modeling, and uncertain operating conditions in the control system of a dual-drive linear motor gantry platform for a chip mounter, which uses a dual-motor interconnected drive method. It provides an event-triggered fault-tolerant control method for a dual-drive gantry platform.

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

[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. The sum of the outputs of each controller and the adaptive law is used as the total control signal of the dual-drive gantry platform of the pick-and-place machine. The preset performance event-triggered fault-tolerant control is performed on the dual motors of the Y-axis of the dual-drive gantry platform of the pick-and-place machine using the total control signal.

[0012] Furthermore, the expression for the aforementioned preset performance virtual controller is:

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

[0014]

[0015] Where β represents error information, c i Let be the positive parameters to be designed for the i-th interconnected subsystem. For the event trigger sampling value of the i-th interconnected subsystem, Let be the maximum estimated value of the absolute value of the state variable of the i-th interconnected subsystem, Φ be a computable known function, and have the following... N is the order of the interconnected subsystem, φ i,1 Let τ = 1,...,m be the known nonlinear term of the first state vector perturbation in the i-th interconnected subsystem. i m i Let b be the total number of state vectors in the i-th interconnected subsystem, where b = 1, 2, ..., p, and p represents the degree of interconnection coupling of the interconnected subsystems. y is an unknown constant. τ For the output of the τth state vector, y 1,d This 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, and ξ is the obstacle function. χ ε (t) is the proportionality coefficient. c ε and All are constants.

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

[0017]

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

[0019]

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

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

[0022] and

[0023] and Where λ is a positive constant.

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

[0025]

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

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

[0028]

[0029] in, They are respectively The first derivative, This represents the maximum estimate of the absolute value of the state variable of the i-th interconnected subsystem. This is an estimate of the reciprocal of the upper bound of the output when the actuator partially fails. This is an estimate of the upper bound of the output when the actuator fails completely, where γ is a known positive constant. z is a parameter containing position error information and event-triggered sampling error. i,j =x i,j -α i,j-1 x i,j Let α be the j-th state vector in the i-th interconnected subsystem. i,j-1 For the preset performance virtual controller of the (j-1)th state vector in the i-th interconnected subsystem, S i,j Let σ be the state parameter of the j-th state vector in the i-th interconnected subsystem. i,j Let be any integrable positive time-varying function. For the fault-tolerant feedback controller of the i-th interconnected subsystem, For the event trigger sampling value of the i-th interconnected subsystem, ∈ i c is the coefficient. i,Θ c i,μ c i,ζ P i and Q i All of these are known constants.

[0030] Furthermore, the expression for triggering the robust controller based on the above event is:

[0031]

[0032] Among them, u i and These are the input and output of the event-triggered robust controller, respectively. x and c y All are design parameters greater than 0, g i Let i be the internal state parameters of the i-th interconnected subsystem. This is an estimate of the sampling error triggered by the event.

[0033] An event-triggered fault-tolerant control device for a dual-drive gantry platform is disclosed. The event-triggered fault-tolerant control device includes a processor and a memory. The memory stores at least one instruction, which is loaded and executed by the processor to implement the event-triggered fault-tolerant control method for a dual-drive gantry platform as described above.

[0034] A computer storage medium storing at least one instruction, which 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] The beneficial effects of this invention are:

[0036] This invention proposes an event-triggered fault-tolerant control method for a dual-drive Y-axis gantry platform of a chip mounter. Under limited computational and communication resources, when the actuator of the dual-drive gantry platform fails, it can still continue to operate stably within a certain range under pre-set performance. The event-triggered fault-tolerant control method described in this invention is based on preset performance, event triggering, and a fault-tolerant algorithm. Specifically, for a 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, enabling the controller to effectively cope with the adverse effects caused by unknown actuator failures. Combining flexible preset performance control with fault-tolerant control achieves the predetermined transient performance and satisfies the steady-state performance of the system. Furthermore, under a relatively fixed control structure, the preset performance behavior can be achieved by adjusting only a few key parameters and time-varying functions, meaning that this method provides greater flexibility compared to general preset performance control. Finally, an adaptive event-triggered algorithm is designed to effectively save computational and communication resources while avoiding the impact of Zeno behavior on the entire system, while ensuring system performance. Attached Figure Description

[0037] Figure 1 The flowchart is a method for event-triggered fault-tolerant control of a dual-drive gantry platform based on preset performance, as described in this invention.

[0038] Figure 2 This is a graph showing the change in tracking trajectory position error of the interconnected subsystem 1 in the embodiment;

[0039] Figure 3 This is a graph showing the change in tracking trajectory position error of the interconnected subsystem 2 in the embodiment;

[0040] Figure 4 This is an output curve of the system when the actuator of the interconnect subsystem 1 in the embodiment experiences a complete failure;

[0041] Figure 5 This is an output curve of the system when the actuator part of the interconnect subsystem 1 fails in the embodiment;

[0042] Figure 6 This is an output curve of the system when the actuator of the interconnect subsystem 2 in the embodiment experiences a complete failure;

[0043] Figure 7 This is an output curve of the system when the actuator part of the interconnect subsystem 2 fails in the embodiment;

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

[0045] Figure 9 This is a schematic diagram of the controller event triggering time interval of the interconnection subsystem 2 in the embodiment. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0047] Existing research on fault-tolerant control of gantry platforms mostly focuses on single-motor drives and actuator failures, with a greater emphasis on improving steady-state performance and less attention paid to transient performance. Most existing control algorithms consume excessive communication resources and place high demands on system computational performance. This implementation scheme provides an event-triggered fault-tolerant control algorithm based on preset performance, which can effectively handle actuator failures in dual-drive gantry platforms, allowing the system to continue operating according to pre-set performance indicators without consuming excessive computational and communication resources. (Refer to...) Figures 1 to 9 This embodiment describes an event-triggered fault-tolerant control method for a dual-drive gantry platform. It involves designing a preset performance virtual controller, a fault-tolerant feedback controller, and an adaptive law / event-triggered robust controller. The sum of the outputs of these controllers is used as the overall control signal for the dual-drive gantry platform. This overall control signal is then used to perform preset performance event-triggered fault-tolerant control on the Y-axis dual motors of the dual-drive gantry platform. The details are as follows:

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

[0049] The dual-drive gantry platform comprises M interconnected subsystems. The motors on both sides of the platform have cross-coupling terms; therefore, the mathematical model for the motors on both sides of the dual-drive gantry platform is as follows:

[0050]

[0051] Where i = 1,...,M, j = 1,...,m i -1,m i Let be the total number of state vectors in the i-th interconnected subsystem. and They represent x respectively i,j and The first derivative, x i,j x i,j+1 and They are respectively the j-th, j+1-th, and m-th nodes in the i-th interconnected subsystem. i A state vector, Let j be the state vectors of the i-th interconnected subsystem. For the first m of the i-th interconnected subsystem i A state vector, Let θ be the unknown gain of the j-th state vector in the i-th interconnected subsystem. i,j (·)and They are respectively the j-th and m-th nodes in the i-th interconnected subsystem. i The unknown nonlinear term φ of the state vector perturbation i,j (·)and They are respectively the j-th and m-th nodes in the i-th interconnected subsystem. i The known nonlinear term of the state vector perturbation, Δ i,j (·)and They are respectively the j-th and m-th nodes in the i-th interconnected subsystem. i Interconnection coupling terms of state vectors, The output of the first i interconnected subsystems, For the output of the i-th interconnected subsystem, k = 1, 2, ..., n, where n is the total number of actuators, a i,k For the parameter of the k-th actuator in the i-th subsystem, whose sign is known but whose size is unknown, This represents the output of the k-th actuator in the i-th interconnected subsystem.

[0052] In this embodiment, unknown actuator failures are considered to fall into two categories: partial failure and complete failure. The specific failure model is as follows:

[0053]

[0054] Where o represents the fault model number, o = 1, 2, 3, ..., ρ i,k,o u is a bounded unknown constant. i,k This is the normal input for the k-th actuator in the i-th subsystem. The fault state parameters of the k-th actuator in the i-th subsystem under the o-th fault model are given. Actuator faults can be divided into three cases:

[0055] 1. The actuator is not faulty, that is ρ i,k,o =0;

[0056] 2. Partial actuator failure, 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 in the j-th state vector of the i-th interconnection subsystem mentioned above i,j (·) is an unknown smooth function that satisfies the following formula:

[0059]

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

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

[0062] This implementation introduces the concept of a time-varying scaling function to ensure that multiple specified performance characteristics can be uniformly achieved when designing subsequent control algorithms, without having to repeat 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 continuously 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] Based on the time-varying function f(·) above, the preset performance behavior can be described as the following function:

[0070]

[0071] Where e0 is the initial value of the tracking error, e i Let be the tracking error of the i-th interconnected subsystem.

[0072] (ε=1,2,χ ε (t is the proportionality coefficient), and 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, continuous and differentiable;

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

[0075] 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 independent variable is...

[0078] We can obtain:

[0079]

[0080] The above equation includes two cases: e0≥0 and e0<0. For ease of subsequent design, further function transformation can be performed:

[0081]

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

[0083] In order to utilize the Lyapunov function to analyze the system's preset performance behavior, this implementation further processes η using the following obstacle 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 a stability problem of ξ, for subsequent design needs. Applying the above key function transformations to the system and utilizing the proposed preset performance brings many advantages. First, by transforming the performance specification problem into a system stability analysis problem, the hassle of repeatedly designing the controller is avoided. Second, only two parameters need to be adjusted. and χ ε This allows for the implementation of different specified performance behaviors without altering 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 Here, j≠1, α i,j-1 This is a preset performance virtual controller for the (j-1)th state vector in the i-th interconnected subsystem.

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

[0089]

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

[0091] Design a virtual controller α with preset performance for the first actuator in the i-th interconnected subsystem. i,1 This makes V i,1 Since the derivative of is negative definite, thus satisfying Lyapunov's theorem, we have:

[0092]

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

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

[0095]

[0096] in, For g i,j The upper boundary, and has

[0097]

[0098] According to Lyapunov's theorem, all signals are bounded, and the system is stable. Furthermore, this controller can achieve the specified preset performance characteristics.

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

[0100]

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

[0102] Step 4: Design a robust feedback controller to ensure that the intermediate states of the system are stable and bounded.

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

[0104]

[0105] Design a robust feedback controller α for the k-th actuator in the i-th interconnected subsystem. i,k :

[0106]

[0107] in, For the event trigger sampling value of the k-th actuator in the i-th interconnected subsystem, σ i,k Let c be any integrable positive time-varying function. i,kS is the positive parameter to be designed for the k-th actuator in the i-th interconnected subsystem. i,k Let be the state parameters of the k-th actuator in the i-th interconnected subsystem.

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

[0109]

[0110] According to Lyapunov's theorem, all intermediate states of the system are stable and bounded.

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

[0112] Define the m-th node in the i-th interconnected subsystem i The positive semidefinite energy function of a state vector

[0113]

[0114] in, This is an estimate of the reciprocal of the upper bound of the output when the actuator partially fails. P is an estimate of the upper bound of the output when the actuator fails completely. i and Q i All of these are known constants.

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

[0116]

[0117] Where, ∈ i is a coefficient.

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

[0119]

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

[0121]

[0122] in, These are parameters containing position error information and event-triggered sampling error. c represents the sum of the system's position tracking errors. i,Θ c i,μ and c i,ζ All of these are known constants.

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

[0124]

[0125] Among them, C i These are known constants related to the system itself.

[0126] Therefore, the closed-loop system gradually stabilizes, meaning that the motion trajectory of the dual-drive gantry platform of the pick-and-place 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 five i As input to an event-triggered robust controller, the event-triggered robust controller can be further obtained:

[0129]

[0130] in, For the output of the event-triggered robust controller, c x and c y All of these are design parameters that are greater than 0. g i Let i be the internal state parameters of the i-th interconnected subsystem. This is an estimate of the sampling error triggered by the event.

[0131] Using this event-triggered controller can prevent the Zeno phenomenon while still achieving the desired control effect.

[0132] By applying the control system designed in steps three, four, five, and six to the dual-drive gantry experimental platform, and by designing the various parameters of the controller and adjusting the adaptive law coefficients, the dual-drive gantry platform can still guarantee the preset performance parameters when the actuator fails. Specific implementation examples:

[0134] If the dual-drive gantry platform comprises two interconnected subsystems, each with two states, then the mathematical model is as follows:

[0135]

[0136] 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 set as follows:

[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 follows:

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

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

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

[0159]

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

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

[0162] Figure 5 and Figure 7 The figure shows the system output curve when the actuator fails.

[0163] Figure 8 and Figure 9 The figure shows the time interval for triggering interconnect system events.

[0164] in addition, Figures 2 to 7 The units of the vertical axes shown are all positional scale information; Figure 8 and Figure 9 The vertical axis represents the time interval between event triggers.

[0165] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can 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. The sum of the outputs of each controller and the adaptive law is used as the total control signal of the dual-drive gantry platform of the pick-and-place machine. The preset performance event-triggered fault-tolerant control is performed on the dual motors of the Y-axis of the dual-drive gantry platform of the pick-and-place machine using the total control signal. The expression for the preset performance virtual controller is: The preset performance virtual controller The expression is: ， in, For error information, For the first Positive parameters to be designed for an interconnected subsystem For the first Event-triggered sampling values ​​of interconnected subsystems For the first The maximum estimated value of the absolute value of the state variables of the interconnected subsystems. Let be a computable, known function, and have , For the order of the interconnected subsystem, For the first The known nonlinear term of the first state vector perturbation in an interconnected subsystem, , For the first The total number of state vectors in the interconnected subsystems. , Indicates the degree of interconnection coupling of interconnected subsystems. For unknown constants, For the first The output of each state vector This is the actual output of the first interconnected subsystem. , , , , For the tracking error of the first interconnected subsystem, The initial value for the tracking error. For the barrier function, , , This is the proportionality coefficient. and All are constants; The fault-tolerant feedback controller The expression is: ， in, For the first Positive parameters to be designed for an interconnected subsystem For the first Event-triggered sampling values ​​of each interconnected subsystem For the first The maximum estimated value of the absolute value of the state variables of the interconnected subsystems. For the first When the actuator in an interconnected subsystem fails completely, the estimated value of the upper bound of the output is given. For coefficients, , For the first State parameters of each interconnected subsystem Let be any integrable positive time-varying function. , For the first State vectors in an interconnected subsystem For the first The preset performance virtual controller for each interconnected subsystem.

2. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, wherein, The error information The expression of the error information is: 。 3. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 2, wherein, The barrier function The expression for the barrier function is ， in, , Time-varying function In dependent variable The independent variable under, For the first Tracking error of the interconnected subsystems.

4. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 3, wherein, the time-varying function is a continuously differentiable odd function satisfying: and ; and wherein, is a positive constant.

5. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, wherein, The expression for the fault-tolerant adaptive law includes: ， ， ， in, , , They are respectively , , The first derivative, For the first The maximum estimate of the absolute values ​​of the state variables of the interconnected subsystems This is an estimate of the reciprocal of the upper bound of the output when the actuator partially fails. This is an estimate of the upper bound of the output when the actuator fails completely. Given positive constants, These are parameters containing position error information and event-triggered sampling error. , For the first The first interconnected subsystem A state vector, For the first The first interconnected subsystem A preset performance virtual controller with state vectors. , For the first The first interconnected subsystem State parameters of a state vector Let be any integrable positive time-varying function. For the first Fault-tolerant feedback controller for interconnected subsystems For the first Event-triggered sampling values ​​of interconnected subsystems For coefficients, , , , and All of these are known constants.

6. The event-triggered fault-tolerant control method of a dual-drive gantry platform according to claim 1, wherein, The expression for triggering the robust controller is: ， ， in, and These are the input and output of the event-triggered robust controller, respectively. and All of these are design parameters that are greater than 0. For the first Internal state parameters of each interconnected subsystem This is an estimate of the sampling error triggered by the event. , .

7. 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, which is loaded and executed by the processor to implement the event-triggered fault-tolerant control method for a dual-drive gantry platform as described in any one of claims 1 to 6.

8. A computer storage medium, characterized in that The computer storage medium stores at least one instruction, which is loaded and executed by a 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 6.

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