摘要
针对计量检定流水线中机械臂的运行状态监控问题,基于自适应状态观测器提出了一种机械臂故障预测与健康评估模型。充分考虑机械臂的离散输出数据,通过自适应状态观测器重构机械臂动态系统;将实际机械臂系统与期望机械臂系统比较,得到实际机械臂系统与期望机械臂系统之间的偏差;计算机械臂健康度指标,实现机械臂故障预测与健康度评估。通过系统仿真,从数值和图像角度证明了所提模型的有效性,同时验证了健康度评估指标的合理性。
A fault prediction and health evaluation model based on adaptive state observer is proposed to monitor the operation status of the manipulator in the metrological verification pipeline in this paper.The discrete output data of the manipulator is fully considered,and the dynamic system of the manipulator is reconstructed by an adaptive state observer.The deviation between the actual manipulator system and the expected manipulator system is obtained by comparing the actual manipulator system with the expected manipulator system.The manipulator health index is calculated to realize the failure prediction and health evaluation of the manipulator.Through the system simulation,the validity of the proposed model is proved from the aspect of numerical value and image,and the rationality of health evaluation is also verified.
作者
彭龙
党三磊
孔政敏
黄友朋
陈亮
崔艳德
PENG Long;DANG Sanlei;KONG Zhengmin;HUANG Youpeng;CHEN Liang;CUI Yande(Metering Center,Guangdong Power Grid Co.,Ltd.,Qingyuan 511547,China;School of Electrical Engineering and Automation,Wuhan University,Wuhan 430072,China)
出处
《电子设计工程》
2021年第5期134-138,143,共6页
Electronic Design Engineering
基金
广东电网有限责任公司科技项目(GDKJXM20172756)。
关键词
离散输出
自适应状态观测器
机械臂
故障预测
健康度评估
discreteoutput
adaptivestateobserver
manipulator
faultprediction
healthdegreeassessment
作者简介
彭龙(1991—),男,湖北仙桃人,硕士研究生,工程师。研究方向:电力计量检定技术。
