摘要
针对一类具有过驱动特性的多缸液压机,提出了一种基于扰动观测器的新型滑模容错动态分配方法.该方法将多类执行器故障转移到集总扰动中,简化了包含多类故障数学模型的容错控制器设计过程,并以此为基础,进行动态控制分配设计.首先,基于集总扰动观测器提供的集总扰动估计,通过滑模方法,设计了虚拟容错控制律;然后,利用动态优化方法为虚拟容错控制律设计了控制分配方案,该分配方案在提高计算效率的同时,能够考虑执行器约束及其他性能指标,从而对虚拟控制输入进行高效能分配.仿真实验表明:无论是某单液压缸发生特定故障,还是多液压缸发生多类故障,所提控制方法皆表现出较强的鲁棒性,与传统控制方法相比具有明显的优越性.
For a class of multi-cylinder hydraulic presses with overdrive characteristics,a new sliding mode fault-tolerant dynamic allocation method based on disturbance observer was proposed. The multi-class actuator failures were transferred to lumped disturbances.The design process of fault-tolerant controllers including multi-class fault mathematical models was simplified,and dynamic control allocation was designed on this basis. Firstly, lumped disturbance estimation based on lumped disturbance observer was proposed.Through the sliding mode method,a virtual fault tolerant control law was designed.Then,the dynamic optimization method was used to design a control allocation scheme for the virtual fault-tolerant control law, which can not only improve the computational efficiency, but also consider the actuator constraints and other performance indicators, so as to effectively allocate the virtual control input. Simulation experiments show that the proposed control method shows strong robustness regardless of whether a specific fault occurs in a single hydraulic cylinder or multiple hydraulic cylinders. Compared with the traditional control method,it has obvious advantages.
作者
贾超
何浩成
董恩增
JIA Chao;HE Haocheng;DONG Enzeng(School of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China;Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems,Tianjin 300384,China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第8期33-39,共7页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
天津市自然科学基金资助项目(18JCYBJC87700)。
关键词
液压机
扰动观测器
动态控制分配
容错控制
多类型故障
执行器约束
滑模控制
hydraulic press
disturbance observer
dynamic control allocation
fault tolerant control
multi-type fault
actuator constraint
sliding mode control
作者简介
贾超(1980-),男,副教授,E-mail:jacky20042004@126.com.
