一种电动舵机的多余度传感器故障诊断方法  

Fault diagnosis method for redundancy sensors of electric actuator

作　　者：崔玉伟[1] 李爱军[1] 孙杨 CUI Yuwei;LI Aijun;SUN Yang(School of Automation,Northwestern Polytechnical University,Xi′an 710072,China)

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2024年第4期652-661,共10页Journal of Northwestern Polytechnical University

基　　金：中国航空科学基金(201958053003,20200007018001)资助。

摘　　要：为了解决电动舵机多余度位置传感器奇异故障模式的诊断难题,在传统基于多余度比较的故障诊断算法基础上,提出一种基于霍尔传感器解析模型的故障诊断方法。通过霍尔传感器完整的自监控设计及舵机位置传感器的解析模型设计,形成多余度位置传感器的非相似余度信号;采用基于滑动数据窗的假设检验方法,通过调整滑动数据窗口宽度,满足传感器故障检测的虚警率和漏报率指标要求,整体形成面向位置传感器的故障诊断算法。基于某飞行器管理系统的电动舵机,开展真实位置传感器2∶2奇异故障模式的算法验证,结果表明基于霍尔传感器模型的故障诊断算法,能够有效解决2∶2等奇异故障带来的诊断问题,大幅提升传感器信号的可用性,保证伺服闭环的控制精度和容错能力。In order to solve the singular fault modes of redundant position sensors in electric actuators,a fault diagnosis method based on Hall sensor analytical model is proposed on the basis of traditional redundancy comparison algorithm.Through the complete self-monitoring design of Hall sensor and the analytical model design,non-similar redundancy signals of sensors are formed.At the same time,a hypothesis testing method based on sliding data window is adopted,and by adjusting the width of the sliding window to meet the indicators of false alarm rate and missed alarm rate,a fault diagnosis algorithm for position sensors is formed as a whole.Finally,an algorithm validation was conducted for the 2∶2 singular fault mode of the position sensor.The results showed that the fault diagnosis algorithm based on the Hall sensor model can effectively solve the problems caused by 2∶2 singular faults,greatly improve the availability of sensor signals,and ensure the control accuracy and fault tolerance of the servo closed-loop.

关 键 词：电动舵机 传感器 故障诊断 多余度比较 解析模型 

分 类 号：V249[航空宇航科学与技术—飞行器设计]