Fault diagnosis and fault tolerant control for the servo system driven by two motors synchronously

被引：12
作者：
Chen, Wei [1 ]
Wu, Yi-Fei [1 ]
Du, Ren-Hui [1 ]
Wu, Xiao-Bei [1 ]
机构：
[1] School of Automation, Nanjing University of Science and Technology
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2014年 / 31卷 / 01期
关键词：
Actuator failure; Adaptive sliding mode control; Dual-motor; Fault diagnosis; Fault tolerant control;
D O I：
10.7641/CTA.2014.30591
中图分类号：
学科分类号：
摘要：
In the servo system driven by two motors synchronously, actuator failures deteriorate the tracking performance 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.
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页码：27 / 34
页数：7
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