Active fault-tolerant control method of servo system

A servo system, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inevitable failures, and achieve the effect of ensuring stability and high flexibility

Active Publication Date: 2018-11-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, a large number of practices have shown that even so, failures are still inevitable during system operation

Method used

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  • Active fault-tolerant control method of servo system
  • Active fault-tolerant control method of servo system
  • Active fault-tolerant control method of servo system

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Embodiment Construction

[0035] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0036] Step 1, Modeling of the system

[0037] According to the method of mechanism modeling, combined with the structure and physical theorems of the motor, the dynamic model of the motor servo system is established:

[0038]

[0039] Among them, U is the voltage, R is the stator resistance, I is the stator current, L is the stator inductance, θ m is the motor rotation angle, is the motor speed, J m is the moment of inertia of the motor, θ d is the load rotation angle, is the load speed, J d Indicates the moment of inertia of the load, C e is the back EMF coefficient, K d is the electromagnetic moment coefficient, b m is the equivalent viscous damping coefficient, i m is the transmission ratio, and k is the stiffness coefficient.

[0040] make x 1 =i,x 2 = θ m , x 4 = θ d , u=U. Then system (1) can be transformed into the followin...

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Abstract

The invention relates to an active fault tolerance control method for a servo system, and the method comprises the steps: 1, enabling a motor servo system to be modeled as a linear model with an unknown input and an executor fault; 2, designing a robust fault estimator, and estimating a system fault; 3, designing a feedback fault tolerance controller according to the estimated system fault. According to the invention, the method obtains the fault information of the system through the fault estimator, enables the motor servo system to be able to adjust the parameter and structure of the controller again according to the fault condition, thereby guaranteeing the stability of the system after a fault, and achieving the active processing of the fault. Moreover, the method is high in flexibility.

Description

technical field [0001] The invention relates to the technical field of electromechanical control, in particular to an active fault-tolerant control method of a servo system. Background technique [0002] As the main energy and power equipment of modern industry, servo motor is widely used in various fields of life, such as machine tools, printing, security and communication. With the continuous progress and development of science and technology, the complexity of servo control system becomes higher and higher. Some large-scale servo control systems, such as the artillery position servo system, the active tracking system of the radar antenna, the aviation turret servo system, etc., due to the particularity of the working environment and working conditions, once a failure occurs, it will cause huge property losses and casualties , and even lead to the paralysis of the entire system. Therefore, modern industrial and military fields have put forward higher requirements for the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 任雪梅郭富民李林伟曾添一乔大鹏李原
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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