电动叉车稳定性控制系统传感器故障重构  

Sensor fault reconstruction in the electric forklift stability control system

作　　者：孙成功 肖本贤[1,2] Sun Chenggong;Xiao Benxian(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China;Industry&Equipment Technology Institute,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,合肥230009 [2]合肥工业大学工业与装备技术研究院,合肥230009

出　　处：《电子测量与仪器学报》2019年第1期120-127,共8页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(61304007)资助项目

摘　　要：针对电动叉车稳定性控制系统的多个传感器故障检测和重构问题,提出了一种具有自适应调节律的滑模观测器,实现传感器故障的检测和重构。从叉车三自由度模型入手,构造出具有输出扰动的线性状态方程作为其等效的叉车传感器故障模型,并通过定义辅助的状态变量作为输出信号滤波器,将传感器故障转化成执行器故障。依据故障模型和滑模控制理论,给出了基于滑模观测器的传感器故障检测和重构方法并通过自适应算法使观测器设计具有无需知道未知故障上限值的优点。最后通过实验结果,表明该方法是有效的。Aiming at the problem of multiple sensor fault detection and reconstruction in the electric forklift stability control system,a sliding mode observer with adaptive regulation law is proposed to realize sensor fault detection and reconstruction.Starting from the threedegree-of-freedom model of the forklift,a linear state equation with output disturbance is constructed as its equivalent forklift sensor fault model,and the sensor fault is converted into an actuator fault by defining an auxiliary state variable as an output signal filter.According to the fault model and sliding mode control theory,the sensor fault detection and reconstruction method based on sliding mode observer is given,based on the adaptive algorithm,the observer design has the advantage of not knowing the upper limit of unknown fault.Finally,the experimental results show that the method is effective.

关 键 词：电动叉车 传感器 故障重构 滑模观测器 自适应算法 

分 类 号：TH242[机械工程—机械制造及自动化]