双电机同步驱动伺服系统故障诊断与容错控制-控制理论与应用.PDF

31 1 Vol. 31 No. 1 2014 1 Control Theory Applications Jan. 2014 DOI: 10.7641/CTA.2014.30591 , , , ( , 210094) : , . , : , ; , . , ; Lyapunov; , , . : ; ; ; ; : TP273 : A Fault diagnosis and fault tolerant control for the servo system driven by two motors synchronously CHEN Wei , WU Yi-fei, DU Ren-hui, WU Xiao-bei (School of Automation, Nanjing University of Sciense and Technology, Nanjing Jiangsu 210094, China) Abstract: In the servo system driven by two motors synchronously, actuator failures deteriorate the tracking perfor- mance or even result in system instability. To deal with this problem, we propose a fault diagnosis and fault tolerant control scheme based on adaptive sliding mode method. In this control scheme, the adaptive sliding mode observers for motor speed are designed, and the actuator failure factors are estimated online. When an actuator partly fails to work, the controller gains will be adjusted automatically. When an actuator fully breaks down, the control law of the system will be reconstructed. Considering that there are unmatched uncertainties in the system, we introduce compensations based on extended state observer (ESO) to the desired virtual signals. The stability of the servo system under normal and fault conditions are analyzed by Lyapunov theory, the convergence of the observers are also analyzed. It is shown by simulation results that the control strategy can assure the stable tracking of the command signals. The tracking performance almost remains unchanged when an actuator partly or fully fails to work.