53 results about "Actuator fault" patented technology

This invention provides a method for reconstructing actuator faults in a heterogeneous multi-agent integrated energy system, relating to the field of fault diagnosis. The invention establishes a unified dynamic model for the agents; defines intermediate variables and constructs their dynamic equations; builds a global error dynamic system for distributed intermediate observers and agents; derives the stability criterion for the global error system based on Lyapunov stability theory, obtaining the state observer gain matrix for state estimation; loads the state observer gain matrix and the gain matrix for state estimation into each agent; and during the real-time operation of the agents, obtains the current state vector estimate and intermediate variable estimate, and calculates the reconstructed actuator fault value. This invention utilizes an output space coupling mechanism, enabling distributed collaboration between different energy networks without requiring a unified model dimension, thus breaking down the physical barriers to actuator fault reconstruction in integrated energy systems.

The application discloses a kind of high-temperature forging dynamic three-dimensional measurement-oriented sliding mode fault-tolerant control methods, and specific implementation steps include: establishing the discrete-time singular perturbation Markov jump state space model of high-temperature forging measurement system;Design probability dynamic event trigger mechanism, utilize internal dynamic variable intelligent judgment data transmission time to save bandwidth resources;For possible fraud attacks and actuator failure, build the corresponding attack model and fault model;Sliding surface and sliding control rate function are constructed;Deduce the sufficient condition for guaranteeing system reachability and closed-loop system finite time boundedness;Iterative solution controller gain and dynamic trigger parameters.The application considers network security, resource-constrained and actuator degradation and other multiple constraints under the high-temperature forging dynamic three-dimensional measurement scene, while guaranteeing the system finite time stability, significantly improves the robust cooperative control ability and operation safety of measurement system.

This invention discloses a distributed adaptive fault-tolerant control method and system for nonlinear inline systems, relating to the field of distributed control technology for nonlinear inline systems. The method includes: for each subsystem in the nonlinear inline system, constructing the actual output of each actuator in the subsystem based on the fault type of the actuator; the nonlinear inline system includes several subsystems; for each subsystem, constructing a local objective function, an error optimizer, an auxiliary system, high-gain parameters, and a control law, and generating an optimal error trajectory based on the local objective function and the error optimizer. At the upper level, this invention designs an error optimizer to generate the optimal error trajectory based on a local objective function that converges to zero; at the lower level, it designs a trajectory tracking fault-tolerant controller with the help of an auxiliary system, employing a dynamic high-gain approach to adaptively handle the effects of uncertain parameters, actuator faults, and unknown strong inline coupling.

This invention discloses a fault-tolerant and vibration suppression control method for rigid-flexible coupled robots based on synchronous disturbance observation and dynamic event triggering. The method includes: establishing a large-deformation dynamic model of the rigid-flexible coupled robot mechanism and constructing rigid coordinates, flexible modal coordinates, and control targets; establishing an actuator effectiveness decay fault model and transforming the original underactuated system into an equivalent fully actuated model oriented towards trajectory tracking; designing a fixed-time synchronous disturbance observer based on error dynamics to estimate external disturbances and composite uncertainties online; constructing a dynamic event triggering mechanism and a time-synchronous fault-tolerant sliding mode control law to achieve synchronous convergence of the system state to the sliding surface within a fixed time; introducing a hybrid reference trajectory and virtual input to establish an augmented state model and designing a robust linear quadratic state feedback controller. This invention achieves coordinated control of trajectory tracking and flexible vibration suppression under conditions of external disturbances, actuator failures, and limited communication resources.

This invention discloses a path adaptive replanning control method and system for unmanned aerial vehicles (UAVs) based on actuator health status estimation. The method includes: acquiring the current position, velocity, and environmental information of the UAV; estimating the actuator health status based on the command acceleration output by the controller and the UAV's motion response; updating path planning parameters based on the actuator health status; determining whether a replanning trigger condition is met; generating a new local trajectory if the replanning trigger condition is met, and continuing to execute the current local trajectory if the replanning trigger condition is not met; generating a control layer reference position and reference velocity based on the current local trajectory; outputting a command acceleration based on the reference position and reference velocity, and obtaining the actual acceleration input through actuator efficiency, bias, and constraint effects; updating the UAV's motion state based on the actual acceleration input and entering the next cycle. This invention improves the safety, stability, and executability of the system in the event of actuator failure.

The application discloses a kind of high-precision indirect signal reconstruction-based wheeled robot system fault-tolerant control method.This method under the interference of external noise, establishes the wheeled robot system containing unknown system state and actuator fault, gives its system output function, constructs indirect variable based on unknown system state and actuator fault, obtains estimation error system.In addition, a distributed fault-tolerant controller containing estimated state and fault is designed to act on the continuous time of system, to ensure that estimation error system is uniformly ultimately bounded, to realize the synchronization of error system.

The present application relates to a kind of solving method for the design of nonlinear system multiple small fault estimator, first establish the discrete-time system model containing actuator and sensor multiple fault and nonlinear term, then introduce nonsingular transformation and decompose the original system into two subsystems: subsystem 1 only contains external disturbance, subsystem 2 contains both actuator fault and sensor fault. Based on two subsystems, two iterative learning estimators 1 and 2 are designed, and an integrated solution method for designing two estimator parameters is applied using optimization algorithms. Finally, a multiple small fault estimation strategy for nonlinear systems is presented, and accurate estimation is achieved when multiple faults occur concurrently. The present application can accurately estimate the actuator and sensor faults of nonlinear discrete-time systems, while simultaneously counteracting the influence of external disturbances on fault estimation results, effectively estimating small faults in the system, and improving the system's fault handling capability and fault tolerance performance. The solving method of the present application is simple and easy to implement in practical engineering systems.

The application relates to the field of connected vehicles, in particular to a preset time fault and interference composite estimation method for an intelligent connected vehicle fleet. n For a plurality of connected vehicle subsystems in communication with each other, a longitudinal dynamics state space model containing an actuator fault term and an external interference term is constructed, and a lateral dynamics state space model containing system nonlinear terms and longitudinal driving state parameters is constructed; communication interaction position information and actuator fault factors of adjacent vehicles are acquired; according to the communication interaction position information and the actuator fault factors, longitudinal and lateral inter-queue distance errors containing actuator fault and external interference information are respectively determined in combination with a preset convergence time; unconstrained equivalent transformation of the longitudinal and lateral inter-queue distance errors is carried out by using a smoothing function, and longitudinal and lateral control inputs of the vehicle are determined. The method effectively solves the problems of random occurrence and unpredictability of actuator faults and external interference suffered by a two-dimensional intelligent connected vehicle fleet system, and improves the safety and reliability of the system.

The application discloses an elastic safety adaptive fault-tolerant control method and system for an uncertain nonlinear system, aiming at the composite problem of state jump and actuator failure caused by pulse FDI attack, proposes a pulse hybrid dynamic model, and constructs a hybrid regulator function accordingly. Through nonlinear coordinate transformation and the regulator function, the original constrained system can be converted into an unconstrained system, and the safety problem can be converted into a stability analysis problem. The actuator failure factor and deviation are estimated to offset the fault influence, an event-triggered fault-tolerant control law containing adaptive fault compensation is designed, and the communication load is reduced through an event-triggered mechanism. Lyapunov analysis proves that the system meets the safety constraint and is asymptotically stable under the double threats, effectively solves the problem of simultaneously coping with state jump, fault and hard constraint, and significantly enhances the system elasticity and fault tolerance.

The application discloses a kind of unmanned helicopter formation fault-tolerant methods under time-varying topology based on all-drive system method, including steps as follows: first, establish the high-order all-drive system model of unmanned helicopter, and divide into position outer loop subsystem and attitude inner loop subsystem;For the composite disturbance of unmanned helicopter actuator failure, external disturbance, design decentralized preset time composite disturbance observer to realize real-time accurate estimation of composite disturbance within preset time and be used for the design of controller;Based on all-drive system theory, preset time formation fault-tolerant controller and attitude tracking fault-tolerant controller are designed for the inner and outer loops of unmanned helicopter.The controller is designed according to all-drive system theory and preset time control method, so that the formation tracking error can reach stable convergence within a predetermined time, improve the maneuvering response speed of unmanned helicopter, and at the same time ensure the stability of multi-unmanned helicopter system under time-varying topology and fault conditions.

The application provides a rocket sub-stage wing parachute recovery attitude fault-tolerant control method, so as to compensate for the interference torque caused by the actuator failure and unknown disturbance, realize attitude fault-tolerant control, construct a combination body actuator failure model based on a wing parachute-sub-stage combination body kinematics model; a sliding mode disturbance observer is designed to estimate the lumped interference torque caused by the actuator failure and unknown disturbance; a finite time preset performance backstepping sliding mode attitude fault-tolerant controller is designed based on preset performance theory and backstepping sliding mode control. The application estimates the lumped interference torque by using the sliding mode disturbance observer, combines preset performance control and backstepping sliding mode control, designs a finite time attitude fault-tolerant controller, and realizes accurate control of the attitude of the wing parachute-sub-stage combination body under the influence of the actuator failure and uncertain disturbance.

This invention discloses a fault detection and fault-tolerant control method for roll-to-roll systems, belonging to the field of industrial printing control. This method solves the problem of registration error propagation caused by actuator failure. Its technical solution is based on a coupled dynamics model established by fully decoupled proportional-derivative control, and designs a fault detection index based on the 2-norm to identify and locate faulty units in real time. Then, upstream and downstream collaborative fault-tolerant control is implemented: adaptive feedback adjustment combined with gain scheduling is used for the upstream faulty unit, and control law reconstruction that removes the dependence on coupling compensation for the faulty unit is used for the downstream faulty unit to block the error propagation path. This method can effectively suppress error propagation under fault conditions and improve the system control accuracy and robustness.

The application discloses a kind of cluster unmanned plane fixed time quick adaptive fault-tolerant cooperative control method, first, design a kind of elasticity distributed fixed time observer based on topology switching signal, for accurately estimating virtual leader state and weakening the influence of denial-of-service attack.Second, by combining power integrator technology with topology switching signal, for follower unmanned plane affected by unknown actuator fault, construct fixed time adaptive fault-tolerant cooperative control protocol, so that the cluster unmanned plane system can still realize trajectory tracking in fixed time under the condition of actuator fault and denial-of-service attack coexistence.Finally, by radial basis function neural network, online approximation of composite nonlinear disturbance is realized, more accurate cooperative control is realized.The application can be applied to cluster unmanned plane formation fault-tolerant cooperative control under actuator fault and denial-of-service attack.

The application discloses an integrated fault diagnosis and estimation method for an electric vehicle active suspension system, and comprises the following steps: firstly, collecting vehicle signal inputs required for control; then, estimating a sensor fault vector through a first unknown input observer, and estimating an actuator fault value through a second unknown input observer; for the coupling problem of the two fault estimations, introducing an actuator temporary shutdown mechanism; through monitoring the suspension dynamic stroke sensor fault estimation value, triggering the actuator shutdown mechanism after exceeding a preset threshold value and lasting for a specific time, so as to identify the fault source; finally, generating a fault flag and masking and correcting the estimation value, and outputting accurate fault estimation. The application solves the problem that the actuator and the sensor fault coupling cannot be diagnosed simultaneously, and realizes the synchronous and accurate diagnosis and estimation of various faults of the electric vehicle active suspension system.

This invention relates to a fault-tolerant binary consensus control method for a fixed-time heterogeneous multi-UAV system. The method includes establishing a dynamic model of the multi-UAV system and a topology diagram of UAV communication symbols; designing a distributed adaptive fixed-time observer to estimate the system matrix, state vector, and upper bound of the leader UAV's control input; designing time-varying gain and disturbance compensation terms to construct a fixed-time fault-tolerant cooperative controller and solve for the control input of the following UAVs; and designing the parameters of the distributed adaptive fixed-time observer and the fixed-time fault-tolerant cooperative controller. This invention ensures that the system achieves consensus quickly and robustly even under conditions of information localization, actuator failure, and unknown input disturbances, significantly improving the reliability and practicality of heterogeneous multi-agent systems in complex real-world environments.

The application discloses a master-slave industrial robot system adaptive sliding mode trajectory tracking method. Firstly, a disturbed robot system is modeled; a master-slave control method of a double robot system is designed with the help of a distributed control idea, and on this basis, a segmented preset sliding surface, a master-slave industrial robot trajectory tracking sliding mode controller and an adaptive law of controller parameters are designed by using switching control, adaptive control theory and sliding mode control principle, so that the master industrial robot can compensate for the lumped disturbance and overcome the influence of the actuator fault within a limited time, the tracking error of the target trajectory converges to the preset boundary within a limited time, and the slave industrial robot can overcome the influence of the lumped disturbance and the actuator fault and realize the asymptotic tracking of the trajectory of the master industrial robot. The application solves the problem of how the master-slave industrial robot system can quickly realize consistent trajectory tracking under the influence of internal parameter perturbation, external disturbance, transmission mechanism gap and actuator fault.

The application discloses a kind of multilayer redundancy interactive system and method, it is related to automobile technical field, the system includes executor, controller and passage;Executor includes main executor and vice executor, controller includes main controller and vice controller, passage includes main passage and vice passage;Controller is used to when main controller is normal, control signal is sent to executor by main controller;When main controller fails, control signal is sent to executor by vice controller;Passage is used to when main passage fails, the control signal of controller is sent to executor by vice passage;When vice passage fails, the control signal of controller is sent to executor by main passage;Executor is used to when main executor is normal, control signal is received by main executor;When main executor fails, control signal is received by vice executor.The reliability of system is increased.

This invention discloses a fault-tolerant control method based on an event-triggered intermediate observer, belonging to the field of motor technology. In terms of system modeling, to study the stochasticity and robustness of the motor system, a Markov jump system model is used to describe its state-space model affected by actuator faults and disturbances. Regarding transmission strategy, to save network resources and alleviate bandwidth pressure, an adaptive event-triggered mechanism is adopted. Based on this mechanism, an event-triggered intermediate observer is designed. This alleviates the signal transmission and communication burden of the motor system while obtaining estimates of the motor system's state, disturbances, and actuator faults. Then, these estimates are used to construct a composite controller to stabilize the motor system's state, making the motor system robust to actuator faults and disturbances.

This invention relates to a predetermined-time fuzzy backstepping control method for a fractional-order decoupled dual-mass MEMS gyroscope with delay constraints and actuator faults, belonging to the field of MEMS gyroscope control technology. The method includes: S2: establishing a fractional-order motion equation for the decoupled dual-mass MEMS gyroscope with actuator faults based on the Lagrange equations to eliminate the influence of linear acceleration and vibration at the same frequency; S3: constructing a β-cut 2 type fuzzy logic system to address the uncertainties and nonlinear terms of the system model; superimposing a delay error function on a specified time function to ensure that the error does not violate the constraints after a finite time; using a fractional-order hyperbolic tangent tracking differentiator in the controller design to handle direct fractional derivatives and repeated derivatives; and finally, combining the β-cut 2 type fuzzy logic system to establish a control law with an adaptive law for fault parameters.

This invention discloses a torque limiting mechanism applicable to the field of disc-type permanent magnet speed regulation, relating to the field of permanent magnet speed regulation. It includes: a frame structure, a fixed pulley assembly, a movable pulley assembly, a flexible rope assembly, multiple elastic bodies, and multiple end cap structures. The frame structure is characterized by having a fixed pulley assembly, a movable pulley assembly, and multiple cavity structures, with the elastic bodies and end cap structures housed within the cavity structures. The flexible rope connects the elastic bodies, the fixed pulley assembly, the movable pulley assembly, and the outer rotating arm sleeve. By compressing the elastic bodies, tension is provided to the outer rotating arm sleeve, hindering its rotation and reducing the actuator's workload. The torque limiting mechanism disclosed in this invention can significantly improve the actuator's response speed to the speed regulation capability of the permanent magnet speed regulation system and optimize the actuator's transmission structure. It is particularly suitable for high-power permanent magnet speed regulators, with positive effects of improving system response speed and reducing actuator failure risk.

The present application relates to a kind of spacecraft attitude fault-tolerant tracking control method based on predefined time disturbance observer, belong to spacecraft attitude control technical field, method includes: establishing spacecraft attitude model and introducing actuator failure;Predefined time nonlinear disturbance observer is constructed, the collective disturbance including external disturbance, inertia uncertainty and actuator failure is accurately estimated within preset time;Predefined time attitude tracking controller is designed based on backstepping method, and the output of observer is used for feedforward compensation, so that attitude and angular velocity tracking error converges to the original point small neighborhood within preset time.The present application can be preset on the upper bound of convergence time and independent of initial state, effectively suppress the influence of disturbance and failure, with high precision and strong robustness.

The application relates to an echo state network-based adaptive fault-tolerant control method for a non-strict repetitive system, which comprises the following steps: constructing a nonlinear dynamic system with an actuator fault, and setting a hypothesis condition; introducing a desired error trajectory, constructing a dynamic error equation, and defining a nonlinear function in the equation; approximating the nonlinear function by using an echo state network; proposing an adaptive iterative learning fault-tolerant algorithm, combining a barrier Lyapunov function, deducing a control input, constructing a controller, and filtering redundant batches; and constructing a barrier composite energy function to verify the stability and convergence of the designed adaptive iterative learning fault-tolerant algorithm. The nonlinear dynamic system constructed by the application can still realize effective tracking and control of the system state to the desired trajectory under the conditions that the actuator has additive or multiplicative faults, the system state is limited, and external disturbances exist.

This invention provides a deep learning-based method for real-time online fault detection on UAVs. The method first constructs a high-fidelity simulation environment, systematically injects sensor and actuator faults, and generates a large-scale multi-condition labeled dataset. Based on this, a domain adaptation technique is used to train an initial model, and a lightweight diagnostic network based on temporal-graph fusion is designed and deployed on the airborne end. Transformers and graph convolutional networks are used to extract temporal features and sensor topological features, respectively, and probabilistic online diagnosis is achieved through flow normalization. Furthermore, an edge-cloud collaborative optimization mechanism is established: low-confidence samples are selected and uploaded at the edge, while the cloud evaluates the sample value based on information entropy and diversity, uses knowledge distillation for incremental learning, and achieves hot model updates via OTA. This invention achieves high accuracy, low latency, and continuous adaptive optimization in fault detection.

The application provides a nonlinear time-varying system fault-tolerant tracking control method, device and medium. The method according to the application comprises the following steps: constructing a performance constraint function irrelevant to the initial state of the system, and defining a tracking error allowable range; generating an error variable based on the function to convert the tracking error and constructing a potential barrier function; updating the scalar estimation value of the system uncertainty parameter on line through a parameter adaptive update law containing a finite-time vanishing damping term; generating a continuous fault-tolerant control signal in combination with the error variable and the scalar estimation value; constructing a dynamic event-triggered control mechanism, judging the triggering condition based on the deviation of the continuous and discrete control signals and the dynamic threshold value; and outputting the discrete control signal to the controlled object when the condition is met. The application eliminates the dependence on the initial condition, reduces the calculation complexity, saves the communication resources, and realizes the fault-tolerant control on the actuator failure.

This invention discloses an adaptive fault-tolerant control method and system for a multi-flexible robot system with preset indices, belonging to the field of fault-tolerant control technology for control systems. The method includes: establishing a dynamic model of the multi-flexible robot and a virtual leader model containing hub angle position, elastic vibration, and total displacement; constructing an intermittent actuator fault model including the number of faults, intervals, and unknown times; approximating system uncertainties using a radial basis function neural network; defining the tracking error and reconstructing the error dynamic equation, introducing a strictly decreasing function to construct a preset index set of boundary error state variables; converting constrained errors into unconstrained variables using a strictly increasing function; designing an adaptive fault-tolerant controller based on the unconstrained variables, and using a projection operator to update the estimated parameters online. This invention achieves consistent angular position tracking and suppression of elastic vibration, with the error converging to a predefined residual set, requiring no prior fault information, thus improving the system's robustness and engineering practicality.

The invention discloses a two-degree-of-freedom helicopter predefined time fault-tolerant tracking control method, which comprises the following steps of: establishing a two-degree-of-freedom helicopter dynamical model containing external disturbance and actuator faults, constraining a system state by constructing a time-varying Barrier Lyapunov function, and fusing optimization control based on reinforcement learning into backstepping control, so that the two-degree-of-freedom helicopter is subjected to time-varying fault-tolerant tracking control. The method comprises the steps of designing an optimal virtual controller, designing an optimal tracking controller by adopting a control method based on a mixed zero-sum game theory aiming at an actuator fault and composite disturbance, and relieving communication burden by adopting a dual-channel event triggering mechanism comprising a controller-actuator and a sensor-controller. The controller designed by the invention can ensure that all signals of the whole two-degree-of-freedom helicopter are bounded within the preset time, and ensure that the two-degree-of-freedom helicopter can still quickly and accurately track a reference trajectory within the preset time under the constraint of actuator faults and states.