Improved PSO and SVM based encoder fault diagnosis system and method

Abstract

The invention discloses an improved PSO and SVM based encoder fault diagnosis system and method. The system is characterized in that one path of an output value of a PID controller is inputted into animproved PSO-SVM prediction model, an acceleration value measured by an inertial navigation module is outputted to the improved PSO-SVM prediction model, an output value of the improved PSO-SVM prediction model is divided into two paths, one path is outputted to a fault-tolerant switching mechanism module, a difference of the other path and an actual speed measurement value of an encoder is madeto obtain a residual signal, the residual signal is detected in real time according to an SPRT fault detection algorithm, the fault-tolerant switching mechanism module cuts off a measurement value ofthe failure encoder when the encoder is detected to have a fault and replaces the actual measurement value of the encoder with a predicted output value of the improved PSO-SVM prediction model to serve as a feedback signal which is fed back to the PID controller; and after the system returns to normal, the fault-tolerant switching mechanism module uses the actual measurement value of the encoder as a feedback signal which is fed back to the PID controller, thereby finally achieving a purpose of soft closed-loop safety fault-tolerant control.

Description

technical field [0001] The invention relates to the technical field of detection, in particular to an encoder fault diagnosis system and method based on improved PSO and SVM. Background technique [0002] In a variety of mobile robots, the motion control system is the core part of the robot. Whether it is an industrial robot or a service robot, the safety and stability of the motion system are the most emphasized factors in its productization process. As we all know, better motion control systems mostly adopt closed-loop control methods. Incremental encoders are commonly used digital speed measurement feedback components in motion control systems, which can convert displacement signals into periodic square wave pulse signals. An important link in the system is also a weak link in the control system. [0003] In order to prevent the service robot from flying when the encoder fails during the closed-loop motion control process, and to automatically switch from the closed-loop...

AI Technical Summary

Problems solved by technology

[0005] During the actual movement of the robot, it is difficult to avoid system component failures caused by natural causes such as interference, aging, signal line disconnection, and poor contact.

And when the encoder of the speed measurement feedback element breaks or loses codes, the closed-loop control system of the robot's speed will be destroyed and the loop will be opened. If it is light, it will cause the system performance to decline, and if it is serious, it will cause the control system to overdrive and damage the equipment.

Especially for service robots working in a home environment, the occurrence of motion control system failures may even pose a threat to the personal and property safety of family members

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