考虑压电传感片故障的柔性机械臂振动容错控制  

Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches

作　　者：马天兵[1] 杜菲[1] 钱星光[1] 张建君[1] 

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《北京邮电大学学报》2015年第3期43-49,共7页Journal of Beijing University of Posts and Telecommunications

基　　金：国家自然科学基金项目(51305003);安徽省高校优秀青年人才基金重点项目(2012SQRL045ZD)

摘　　要：针对柔性机械臂结构振动控制中可能出现的压电器件故障问题,以提高系统可靠性和稳定性为主要研究目标,提出了一种集小波神经网络与取代控制技术相结合的容错控制方法.首先设计了3种粘贴不同故障压电片的机械臂结构;然后采用小波包对各种故障压电片进行特征提取,通过径向基函数网络进行特征识别;再根据故障类型,选用硬件取代控制或基于一种新型非线性滑模观测器的软件取代控制;最后通过NI CRIO平台进行的容错控制实验结果表明,传感器件故障诊断的置信度达到0.9,前两阶振动模态的抑制效果达到10 d B以上.In order to improve the reliability and stability of vibration control system for flexible manipulator,a fault-tolerant control method including wavelet neural network combined with substituting control technology was proposed to solve the faults problem of piezoelectric sensor in vibration control. Firstly,three kinds of flexible manipulators were designed by pasting different fault piezoelectric patches,then the wavelet packet was used to extract all kinds of fault feature,radial basis function network was used to identify the characteristics. According to the fault type,hardware substituting control or software substituting control based on a new type of nonlinear sliding mode observer was chosen. Finally,fault-tolerant control experimental results showed that the confidence level of sensor fault diagnosis is higher than 0. 9and vibration suppressing effect for first two order modal could reach more than 10 d B through NI CRIO platform.

关 键 词：压电片故障 柔性机械臂 振动 取代控制 滑模观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]