Fault Detection Based on FIR Filters with Variable Discount Factors for Industrial Robot Drive Systems  

作　　者：WANG Tao ZHANG Le FANG Guanghui BAI Yawen 

机构地区：[1]School of Intelligent Equipment Engineering,Wuxi Taihu University,Wuxi 214064,Jiangsu,China [2]Jiangsu Key Construction Laboratory of IoT Application Technology,Wuxi 214064,Jiangsu,China

出　　处：《Wuhan University Journal of Natural Sciences》2021年第2期165-173,共9页武汉大学学报（自然科学英文版）

基　　金：Supported by the Provincial Training Program of Innovation and Entrepreneurship for Undergraduates (202013571002Z)。

摘　　要：To enhance dynamic tracking performance and anti-disturbance capacity of finite impulse response(FIR) filters, variable discount factors are introduced to the recursive least squares(RLS) algorithm. By employing improved FIR filters to conduct modelling of industrial robot drive systems, dynamic characteristics of the target systems are identified. Then the fault detection for a target system can be utilized by analyzing the coefficients of the FIR filter. Finally, an application of the fault detection scheme to a kind of brushless DC motor drive system is described. Compared with reference methods, the proposed scheme achieves effective fault detection and performs better in dynamic tracking and robustness according to the final simulation results.

关 键 词：fault detection variable discount factor industrial robot FIR(finite impulse response)filter 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]