桥式起重机系统的传感故障容错控制研究  

Research on sensor fault tolerant control for bridge crane system

作　　者：杨亚娜 霍俊红 产佳 YANG Yana;HUO Junhong;CHAN Jia(School of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《燕山大学学报》2024年第2期120-128,156,共10页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(61933009)。

摘　　要：针对欠驱动桥式吊车系统的小车位置传感器故障问题,设计了一种基于观测器的自适应容错控制算法。考虑小车位置传感器出现了大小和符号均未知的故障,为了实现系统稳定下的定点和防摆控制目标,提出了由基于K滤波器的观测器以消除未知传感器故障的影响,同时引入Nussbaum增益来减轻故障未知符号的影响,二者共同组成自适应容错控制器使得桥式起重机可在传感器故障下依然实现控制目标。同时,基于李雅普诺夫稳定性理论,利用反步法证明了欠驱动桥式起重机系统的稳定性。最后,利用MATLAB验证了控制方案的可行性。In this paper,an adaptive faulttolerant control algorithm based on observer is designed for the fault of trolley position sensor in underdrive bridge crane system.Considering the trolley position sensor occurs an unknown fault,in order to achieve the fixed point control goal under the stability of the system,an observer based on K filter is proposed to eliminate the influence of unknown sensor faults,and Nussbaum gain is introduced to reduce the influence of unknown symbols of faults.The adaptive faulttolerant controller is composed of the above two parts so that the bridge crane can achieve the control target even under sensor faults.At the same time,based on Lyapunov stability theory,the stability of underdrive bridge crane system is proved by backstepping method.Finally,the feasibility of the control scheme is verified by using MATLAB.

关 键 词：欠驱动桥式起重机 传感器故障 自适应容错控制 K滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]