基于自适应神经网络鲁棒观测器的EHA故障诊断与容错控制  

EHA fault diagnosis and fault tolerant control based on adaptive neural network robust observer

作　　者：赵杰彦 胡健[1] 姚建勇[1] 周海波[2] 王俊龙 曹萌萌 ZHAO Jieyan;HU Jian;YAO Jianyong;ZHOU Haibo;WANG Junlong;CAO Mengmeng(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410012,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]中南大学高性能复杂制造国家重点实验室,长沙410012

出　　处：《北京航空航天大学学报》2023年第5期1209-1221,共13页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(51975294);高性能复杂制造国家重点实验室开放课题基金(Kfkt2019-11);航天伺服驱动与传动技术实验室开放基金(LASAT-2021-0503)。

摘　　要：针对电静液作动器(EHA)功率密度高、工况复杂、元件集成度高、故障种类多的特点,设计了一种基于自适应神经网络鲁棒观测器的电静液作动器故障诊断与容错控制器。对模型的内部状态提出一种鲁棒观测器进行观测,对液压系统弹性模量等不确定性设计参数自适应率进行估计,对摩擦扰动等非线性设计径向基函数(RBF)神经网络予以逼近。通过前馈补偿的方法对故障和参数不确定性进行补偿,同时针对系统其他扰动设计鲁棒项加以克服。利用Lyapunov稳定性定理证明了所提出的控制器在存在故障的情况下可以实现系统的有界稳定。联合仿真结果表明:相对于传统的比例、积分、微分控制器(PID)和自适应鲁棒控制器(ARC),所提出的控制器具有更高的控制精度与鲁棒性。Aiming at the characteristics of high power density,complex working conditions,high integration of components and the wide variety of faults of electro hydrostatic actuator(EHA),a fault diagnosis and fault-tolerant controller of electro-hydro actuator based on an adaptive neural network robust observer is designed.A robust observer is proposed to observe the internal state of the model.The uncertain parameters,such as elastic modulus of hydraulic system is estimated by adaptive law;and the nonlinear,such as friction disturbance is approximated by radial basis function(RBF)neural network.The feedforward compensation method is used to compensate the fault and parameter uncertainty,and the robust term is designed to overcome other disturbances.By using Lyapunov stability theorem,it is proved that the proposed controller can realize the bounded stability of the system in the presence of faults.The co-simulation results show that the proposed controller has higher control accuracy and robustness than the traditional proportional,integral and differential controller(PID)and adaptive robust controller(ARC).

关 键 词：电静液作动器 径向基函数神经网络 鲁棒观测器 故障诊断 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]