基于FDRE的3D威亚编码器故障检测与容错控制
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摘要
针对3D威亚系统中角位移反馈元件编码器故障,为防止故障影响在系统中蔓延导致事故发生,以线性自抗扰控制(LADRC)构建的3D威亚系统为基础,提出了两种基于故障诊断可靠性评价(Fault Diagnosis Reliability Evaluation,FDRE)的编码器故障软闭环容错控制策略,并据此设计了软、硬平滑过渡的软冗余切换机制。仿真结果表明,所提出的编码器故障容错策略,可及时可靠地检测到编码器故障,并能使3D威亚及时安全、平滑地进行软闭环容错运行,有效地提高了3D舞台威亚系统的安全可靠性能。
Aimed at the problem of encoder fault of 3D stage wire system, combined with LADRC, two kinds of fault tolerant control strategiesare presented based on fault diagnosis reliability evaluation(FDRE) to prevent the spread of fault effects in the system and causing accidents. Based on this, the soft and hard smooth transition soft redundant switching mechanism is designed. The simulation results show that the control strategy can ensure encoder fault detection in a timely and reliable manner, and effectively improve the safety and reliability of 3D stage wire system.
Aimed at the problem of encoder fault of 3D stage wire system, combined with LADRC, two kinds of fault tolerant control strategiesare presented based on fault diagnosis reliability evaluation(FDRE) to prevent the spread of fault effects in the system and causing accidents. Based on this, the soft and hard smooth transition soft redundant switching mechanism is designed. The simulation results show that the control strategy can ensure encoder fault detection in a timely and reliable manner, and effectively improve the safety and reliability of 3D stage wire system.
引文
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[3]李炜,李青朋,毛海杰,等.基于T-S模糊神经网络模型的编码器故障软闭环容错控制方法[J].计算机应用,2014,34(12):3646-3650.Li Wei,Li Qingpeng,Mao Haijie,et al.Method of soft close-loop fault-tolerant control in encoder faults based on the T-S fuzzy neural network model[J].Journal of Computer Applications,2014,34(12):3646-3650.
[4]周东华,胡艳艳.动态系统的故障诊断技术[J].自动化学报,2009,35(6):748-752.Zhou Donghua,Hu Yanyan.Fault Diagnosis Techniques for Dynamic Systems[J].Acta Automatica Sinica,2009,35(6):748-752.
[5]周东华,史建涛,何潇.动态系统间歇故障诊断技术综述[J].自动化学报,2014,40(2):161-171.Zhou Donghua,Shi Jiantao,He Xiao.Review of intermittent fault diagnosis techniques for dynamic systems[J].Acta Automatica Sinica,2014,40(2):161-171.
[6]Gao Zhiwei,Senior Member,Carlo Cecati,et al.ASurvey of Fault Diagnosis and Fault-Tolerant Techniques-Part I:Fault Diagnosis With Model-Based and Signal-Based Approaches[J].IEEE Transactions on Industrial Electronics(S0278-0046),2015,62(6):3757-3767.
[7]Gao Zhiwei,Carlo Cecati,Steven Ding.A Survey of Fault Diagnosis and Fault-Tolerant Techniques-Part II:Fault Diagnosis With Knowledge-Based and Hybrid/Active Approaches[J].IEEE Transactions on Industrial Electronics(S0278-0046),2015,62(6):3768-3774.
[8]Jiang Jin,Xiang Yu.Fault-tolerant control systems:Acomparative study between active and passive approaches[J].Annual Reviews in Control(S1367-5788),2012,36:60-72.
[9]Youmin Zhang,Jin Jiang.Bibliographical review on reconfigurable fault-tolerant control systems[J].Annual Reviews in Control(S1367-5788),2008,32:229-252.
[10]董静,万秋华,赵长海,等.光电编码器故障诊断技术研究现状与展望[J].中国光电,2015,8(5):755-767.Dong Jing,Wan Qiuhua,Zhao Changhai,et al.Current situation and prospect of fault diagnosis for photoelectric encoder[J].Chinese Optics,2015,8(5):755-767.
[11]邓方,陈杰.基于数据特征及模糊逻辑的光电编码器故障诊断[J].中南大学学报,2011,42(1):876-882.Deng Fang,Chen Jie.Optical encoder fault diagnosis based on characteristics of data and fuzzy logic[J].Journal of Central South University,2011,42(1):876-882.
[12]陈兴林,刘杨,吕恒毅.采用小波处理的空间光电编码器智能故障诊断[J].华中科技大学学报,2010,38(4):79-82.Chen Xinglin,Liu Yang,LüHengyi.Wavelet processing-based intelligent fault diagnosis of spacial photoelectrical encoders[J].Journal of Huazhong University of Science and Technology,2010,38(4):79-82.
[13]赵博,李元春.考虑多传感器故障的可重构机械臂主动取代分散容错控制[J].控制与决策,2014,29(2):226-230.Zhao Bo,Li Yuanchun.Active substituting decentralized fault-tolerant control for reconfigurable manipulators with multi-sensor failures[J].Control and Decision,2014,29(2):226-230.
[14]于泳,蒋生成,王高林,等.基于状态观测器的感应电机速度传感器故障诊断及容错控制[J].中国电机工程学报,2012,32(8):123-130.Yu Yong,Jiang Shengcheng,Wang Gaolin,et al.Fault Diagnosis and Tolerant Control for Speed Sensors Based on State Observers in Induction Motor Drives[J].Proceedings of the CSEE,2012,32(8):123-130.
[15]M Sourander,M Vermasvuor,D Sauter.Fault tolerant control for a dearomatisation process[J].Journal of Process Control(S0959-1524),2009,19(7):1091-1102.
[16]Huang Y,Xue W,Zhiqiang G,et al.Active disturbance rejection control:Methodology,practice and analysis[J].Journal of Systems Science&Mathematical Sciences(S1000-0577),2014,53(4):1-5.
[17]Z Gao.Scaling and Bandwidth-Parameterization Based Controller Tuning.In:Proceedings of the 2003 American Control Conference[C].Denver,Colorado,USA:IEEE,2003:4989-4996.