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对于具有未知的死区的双式液压系统,主动容错控制

Tianzhu Wang¹, Qiang Zhang², Jinhui Fang¹

¹The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China.

ISA transactions

|December 23, 2023

概括

本研究介绍了双式液压系统的强大的耐故障控制器,解决不确定性和故障,以确保精确的运动控制. 该方法有效地处理门问题,即使在伺服故障后也保持性能.

科学领域:

机器人和控制系统机器人和控制系统
液压工程液压工程液压工程
耐故障控制控制的控制方式

背景情况:

双式液压系统面临来自参数不确定性,模型不准确性和组件故障的挑战.
比率死区和伺服故障显著降低了系统性能和可靠性.
现有的控制方法往往难以同时解决这些复杂的问题.

研究的目的:

为双式液压系统开发高性能,耐故障的运动控制策略.
为了有效地管理参数不确定性,未知的死区和伺服故障.
在不利的操作条件下确保可靠和精确的控制.

主要方法:

详细的双故障系统模型 (DFSM) 被构建.
一个基于干扰观察者的自适应性强大的故障耐受性控制器是使用后退方法设计的.
基于模型的故障检测和非线性观察器被集成为实时故障监测和估计.
基于DFSM的自适应性稳定控制 (ARC) 用于处理非线性和未知的死区.

主要成果:

拟议的控制器证明了有效处理参数不确定性和未知的比例死区.
集成故障检测和非线性观察器成功识别并管理了伺服故障.
实验验证证了控制器在系统故障和不确定性的情况下保持高性能运动控制的能力.

结论:

拟议的基于干扰观察者的自适应性强大故障耐受性控制方法对双式液压系统有效.
这种方法确保了强大而精确的运动控制,即使存在重大不确定性和伺服故障.
这项工作为提高液压运动控制系统的安全性和性能提供了可靠的解决方案.

关键词:

活动故障耐受性控制器适应性强大的控制控制.死亡区补偿赔偿金双式液压系统双式液压系统非线性干扰观察员的观察者

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