基于优化自适应阈值的非线性机电系统传感器故障检测和主动容错控制  

Sensor fault detection and active fault-tolerant control for the nonlinear mechatronic system based on optimized adaptive threshold

作　　者：郁明 李旺林 蓝盾 Yu Ming;Li Wanglin;Lan Dun(School of Electrical Engineering and Automation Hefei Unirersily 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

出　　处：《仪器仪表学报》2022年第4期26-37,共12页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(62173119,61673154)项目资助。

摘　　要：针对具有参数不确定性和传感器故障的非线性机电系统,提出一种基于优化自适应阈值和故障重构策略的主动容错控制方法。首先,利用线性分式变换理论对存在参数不确定性的非线性机电系统进行建模,并提出基于粒子群优化算法的优化自适应阈值以提高参数不确定条件下的故障检测性能。其次,通过解析冗余关系推导出系统的动力学方程,并提出一种基于递归终端滑模的跟踪控制策略,以实现系统健康状态下的负载位置跟踪。当系统发生故障时,构建自适应滑模观测器进行传感器故障重构,根据重构结果设计自适应主动容错控制律,并利用故障检测结果进行控制律的实时切换。实验结果表明,所提出的故障检测和主动容错控制方法能在0.06 s内准确的实现传感器故障检测和容错控制,验证了该方法的可行性。In this article, an active fault-tolerant control method based on the optimized adaptive threshold and fault reconstruction strategy is proposed for the nonlinear mechatronic system with uncertain parameters and sensor fault. Firstly, the linear fractional transformation form is used to model the nonlinear mechatronic system with parameter uncertainty. The optimized adaptive threshold based on the particle swarm optimization is established to improve the fault detection performance in the presence of parameter uncertainty. Secondly, the dynamic equations of the system are derived by the analytical redundancy relations, and the tracking control strategy of the healthy system based on the recursive terminal sliding mode is proposed to realize the tracking of load position. An adaptive sliding mode observer is formulated to reconstruct the sensor fault when the fault occurs in the system, based on which the adaptive active fault-tolerant control law is established. The switching of control law can be implemented online by using the fault detection result. Experimental results show that the proposed fault detection and active fault-tolerant control method can accurately achieve fault detection and fault-tolerant control of sensor within 0.06 s, which evaluates the feasibility of the method.

关 键 词：非线性机电系统 优化自适应阈值 自适应递归终端滑模 传感器故障重构 主动容错控制 

分 类 号：TH165.3[机械工程—机械制造及自动化]