摘要
针对电动叉车EPS系统的执行器与传感器故障,提出一种基于执行器故障重构值的容错控制算法以此来提高EPS系统故障的助力性能。建立了含执行器与传感器故障的电动叉车EPS系统模型,提出一种具有自适应调节律的滑模观测器和广义观测器方法,达到对执行器与传感器故障的估计,针对带有执行器故障的叉车EPS系统进行容错控制达到提高EPS系统故障的助力性能。最后通过实验结果,表明执行器与传感器发生故障时,所提出的算法能准确地估计故障值,提出的容错控制器能有效的恢复EPS系统故障的助力性能,有效保证电动叉车EPS系统的安全性与可靠性。
Aiming at the problem of actuator and sensor fault diagnosis and fault-tolerant control in electric power steering(EPS)system of electric forklift,a sliding mode observer and a generalized observer method with adaptive regulation law are proposed to estimate the actuator and sensor faults.A fault-tolerant control algorithm is designed for actuator fault reconstruction values.Based on the forklift EPS system model and the three-degree-of-freedom model,this paper constructs the forklift EPS system actuator and sensor fault model,and decouples the original system to two reduced-order subsystems according to linear transformation,so that the two subsystems of the reduced order are separate.The adaptive sliding mode observer and the generalized observer are designed to prove the condition that the estimation error is finally bounded,and the estimated state of the reduced order system is obtained.Further,it is proposed to enable the fault-tolerant control algorithm to effectively recover the EPS system fault for the actuator fault reconstruction value.Finally,the experimental results show that the method is effective.
作者
陶婕
肖本贤
Tao Jie;Xiao Benxian(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2019年第8期85-93,共9页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金(61304007)资助项目
关键词
电动叉车
执行器
传感器
故障诊断
自适应滑模观测器
容错控制
electric forklift
actuator
sensor
fault diagnosis
adaptive sliding mode observer
fault-tolerant control
作者简介
陶婕,2017年于安徽工程大学获得学士学位,现为合肥工业大学硕士研究生,主要研究方向为叉车故障诊断。E-mail:1185392729@qq.com;肖本贤,分别在1986年、1989年和2004年于合肥工业大学获得学士学位、硕士学位和博士学位,现为合肥工业大学教授,主要研究方向为智能控制、无线传感网络、故障诊断、系统建模。E-mail:xiaobenxian@126.com.
