CN107390512A - A kind of anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system - Google Patents
A kind of anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system Download PDFInfo
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- CN107390512A CN107390512A CN201710621838.6A CN201710621838A CN107390512A CN 107390512 A CN107390512 A CN 107390512A CN 201710621838 A CN201710621838 A CN 201710621838A CN 107390512 A CN107390512 A CN 107390512A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
The present invention relates to a kind of anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system, belong to AC Servo Control field.The present invention be for and meanwhile lift the mission reliability and Immunity Performance of AC servo.Such servo-drive system uses M (M>1) the common driving load of driving equipment is covered, M set driving equipments are controlled by same master control borad, master board obtains the status information of M complete equipments in real time, the torque needed for system operation is calculated by control algolithm, with the invalid coefficient of each complete equipment of RLS real-time identification with forgetting factor, in the case where part driving equipment fails, design moment dynamic allocation scheme adjusts the torque command of remaining driver, ensure that total output torque is constant, so as to realize the operation free of discontinuities of the long-time of whole servo-drive system, and keep control performance.
Description
Technical field
The invention belongs to AC servo control field.
Background technology
AC servo obtains extensive use in modern industry, communications and transportation and military equipment field.Some applications
Occasion requires very high to the control performance of AC servo, and does not allow the phenomenon to interrupt occur, for example, national defence,
The fields such as weaving, printing and dyeing, smelting, the heavy losses of property may be caused if servo system control performance reduces or interrupts
Even serious personal injury, therefore need research certain methods badly while ensure the control performance and reliability of servo-drive system.
To improve the Immunity Performance of servo-drive system, many researchers deploy research, example to the control method of servo-drive system
Such as compensation method based on state observer, ANN Control method, adaptive robust control method, the gold of feature based model
Split adaptive method etc., above-mentioned control method is made that contribution to improve the vulnerability to jamming of servo-drive system, but can not realize servo
The fault-tolerant operation of system.To improve the reliability of servo-drive system, failure of the researcher to AC servo driver, servomotor
Diagnosis and the expansion research of faults-tolerant control problem：Fault diagnosis method such as based on Fourier transformation or wavelet transformation, motor can be realized
Or the early warning of driver portion failure；The and for example Data fusion technique based on neutral net, it can be passed in driving equipment part
Sensor reconstructs required information to realize faults-tolerant control in the case of failing.But the method for above-mentioned Failure Detection and Fault-Tolerent Control
General complex, Project Realization has higher difficulty, and some methods may be only available for the specifically event of specific occasion
Barrier, it is difficult to higher versatility.To sum up, AC servo control method common at present, in disturbance rejection control and height
It is difficult to take into account on 2 points of Control for Dependability.
The content of the invention
The present invention proposes a kind of anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system, proposes to utilize master
The status information for each driving equipment that control unit obtains carries out failure diagnosis and devises torque dynamic allocation scheme, is handed over realizing
The high-performance for flowing servo-drive system runs without interruption.
The technical scheme is that：Servo-drive system uses M (M>1) (a set of driving equipment includes one to set driving equipment
Driver and a motor) common driving load, M platforms driver controls by same master control borad.The speed ring solution of servo-drive system
Calculation is completed by master control borad, and master control borad calculates resultant couple needed for system operation in real time using sliding formwork control method, and according to operation shape
The torque command of each driver of state dynamically distributes.M platforms servo-driver is operated in torque ring mode, needed for controlled motor output
Torque.In running, control panel is obtained speed, the current feedback of each driver in real time by communication interface first, then is counted
Total torque command is calculated, while with the invalid coefficient of identification algorithm on-line identification driving equipment, is believed with reference to the failure of acquisition
Synthetic determination driving equipment state is ceased, it is final to implement torque dynamic allocation scheme：If the gain of separate unit driver reduces, control
Plate increases the torque command of respective actuator, to the gain to offset the loss；If N (N<M driving equipment failure) is covered, then control panel
The torque command of remaining M-N set driving equipments is redistributed, ensures that total output torque of system is constant, maintenance system is normally transported
OK.
The present invention general hardware block diagram as shown in figure 1, system by host computer, master board, M platforms servo-driver, M platforms
Motor, reduction gearing mechanism and shaft angle feedback device composition.Host computer sends position command, master board root to master board
Resolved according to instruction and the shaft angle feedback information received, total torque command (sliding formwork control ratio) is formed according to (1) formula：
Whereinθ, ω, b, J are respectively the load situation of servo-drive system, rotating speed, viscous friction coefficient and turned
Dynamic inertia,It is based on estimation of the observer method to the real-time torque of load, sgn () is sign function, and γ, k, ρ are more than zero
Adjustable parameter, the convergence rate of tracking error can be changed by adjusting these three parameters.Master control borad is according to the result of calculation of (1) dynamic
Adjust the torque command of each driver.
Master board also receives speed, current information and the fault message of servo-driver feedback by communication interface,
The foundation that torque command is adjusted during as malfunction.Speed that master board is fed back according to driver, current information, pass through band
The invalid coefficient of the RLS on-line identification driver of forgetting factor.The armature discrete equation of motor is expressed as：
Wherein, L is armature inductance, and i (k), ω (k) are the electric current of k moment driver feedback, rotating speed, TsFor the sampling time,
λ (k) be k moment drivers invalid coefficient, GcFor the closed loop gain of driver torque ring, u (k) is master board at the k moment
The torque command of transmission, np, ψ, R be respectively motor number of pole-pairs, rotor flux and winding resistance.For the ease of further fortune
Calculate, (2) formula is converted to：
Make Δ x (k)=i (k+1)-i (k) (4)
η (k)=[λ (k)-R-npψ]T (6)
The RLS with forgetting factor (FRLS) formula carries out recurrence calculation as described below：
γrlsFor forgetting factor, the online recurrence calculation of master board can obtain the estimation of driver current time invalid coefficient
The present invention torque dynamic allocation scheme implementing procedure as shown in Fig. 2 master board in each timer period
Interior basis (1) calculates total torque T needed for servo-drive system operationL, because there is the common driving load of M platform driving equipments, it is
Holding torque is balanced, then the torque command of every driver is arranged under normal condition：
Then the fault message and rotating speed, electric current of current M platforms servo-driver are inquired about in master board by communication interface
Etc. status information, then online calculate by above-mentioned identification algorithm the invalid coefficient of every driver
Master board is according to fault message and combination invalid coefficient synthetic determination fault type and takes appropriate measures：If
I-th driver do not report failure butShow the torque ring gain of the driver
Reduce, in order to offset gain loss, the torque fourth finger of the servo-driver is made T by master boardiIt is adjusted to：
If N platforms driver report failure or invalid coefficientThen show there is N set driving equipment failures, master board
The enable signal of failed drive is then turned off, the torque command for adjusting remaining M-N platform driver is：
Wherein, α is torque compensation factor alpha ＞ 1, to compensate the loss in efficiency of transmission system when N platforms driver fails.Hair
Torque command T is first checked in master board before sending torque commandiIf result of calculation is more than the nominal torque of motor, send specified
Torque command, while send output torque deficiency, the alarm signal that control performance can decline.
The invention has the advantages that after taking the above method, servo-drive system will obtain higher control performance, and
In the case of the driving equipment failure of part, whole servo-drive system is unaffected, still can with stable operation, servo-drive system it is reliable
Property also will be enhanced.The present invention is applied to servo system control performance requirement height, while needs to run without interruption for a long time
Occasion.
Brief description of the drawings
The system that Fig. 1 is the present invention implements hardware block diagram.
Fig. 2 is torque dynamic allocation scheme flow chart.
Embodiment
If a set of servo-drive system is driven jointly by two motors, two servo-driver carries in same CAN,
Controlled by same control panel.Two drivers are operated in torque ring mode, and torque command is sent by control panel.
The load of servo-drive system is 50N.m, and the viscous friction coefficient of conversion to motor side is 0.001N.m.s/rad, is rotated
Inertia is 2.5 × 10-3kg·m2, selection of control parameter k=10, r=5, ρ=10, then total power can be calculated by formula (1)
Square instructs：
TL=-10s+0.0005 ω+50-10sgn (s) (13)
Motor inductances are 5mH, and controlling cycle 1ms, the gain of driver torque ring is 1, and electric motor resistance is 0.5 Ω, extremely right
Number is 4, magnetic linkage 0.25V.s/rad, then armature discrete equation can be expressed as by formula (2)：
I (k+1)-i (the k)=ω (k) of 0.2 λ (k) u (k) -0.1i (k) -0.2 (14)
It is 0.95 to choose forgetting factor, can recognize to obtain the actual effect coefficient of two drivers according to formula (5)~(9)With
If two drivers all without report failure andThen the torque command of each driver is designed as
If two drivers all without report failure andThen the torque command of driver 1 is constantThe torque command of adjust drivers 2 is
If a driver do not report failure andAnother driver report failure orThen close electricity
Machine 2 enables, while adjusts T1=α TL(α ＞ 1), when empirically α can be set to 1.1 to compensate another driver malfunction
Loss in efficiency.
After taking above-mentioned measure, in the case of a driver or electrical fault, servo-drive system can still be run.Watch
The mission reliability of dress system is improved.
Claims (4)
- A kind of 1. anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system, it is characterised in that：Set using M set drivings Standby common driving load, wherein M>1, M set driving equipment is controlled by same control panel；Control panel sets M to cover driving and set first It is standby to be operated in torque ring mode；Secondly, control panel calculates system operation institute in each controlling cycle according to control algolithm The torque needed；Then, control panel obtains the status information of each driver in real time, and recognizes the invalid coefficient of M complete equipments；Most Afterwards, control panel adjusts the torque command of each driver according to the torque dynamic allocation scheme being pre-designed, and ensures to cover driving in N System can still be run in the case of equipment fault, wherein N<M.
- 2. the anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system according to claim 1, it is characterized in that： Control panel in each controlling cycle according toSliding mode control algorithm calculate Total torque command needed for system operation.
- 3. the anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system according to claim 1, it is characterized in that： Control panel is obtained failure, velocity feedback and the current feedback information of each driver by communication interface in real time, and with reference to known to Sampling time, motor stator resistance, inductance, the closed loop gain of driver torque ring, counter electromotive force of motor coefficient and torque refer to Order, passes through the invalid coefficient of each driver of RLS on-line identification with forgetting factor
- 4. the anti-interference fault tolerant control method free of discontinuities of redundant drive servo-drive system according to claim 1, its feature exist In：Torque dynamic allocation scheme performs as follows in each controlling cycle, and the torque for adjusting each driver in real time refers to Order：(1) if without driver report failure and every driverThen the torque command of every driver is assigned asTLFor total loading moment；(2) if without driver report failure but existingWherein i=1,2,3..., N, i ＜ M, the then driver Torque command be adjusted to(3) if N (N be present<M) platform driver report failure orWherein i=1,2,3..., N, then master board turn off The enable signal of this N platform driver, the torque command for adjusting remaining M-N platform driver areSend torque command Preceding check torque command, if more than the nominal torque of motor, send rated moment instruction, same to alarm.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333949A (en) * | 2018-03-09 | 2018-07-27 | 南京航空航天大学 | For the sliding formwork fault tolerant control method of multi-agent system actuator partial failure failure |
| CN109918280A (en) * | 2019-01-31 | 2019-06-21 | 北京无线电测量研究所 | A kind of health control method and device of servo-system |
| CN111538314A (en) * | 2020-04-26 | 2020-08-14 | 湖南大学 | Control performance analysis method for alternating current servo system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333949A (en) * | 2018-03-09 | 2018-07-27 | 南京航空航天大学 | For the sliding formwork fault tolerant control method of multi-agent system actuator partial failure failure |
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| CN109918280A (en) * | 2019-01-31 | 2019-06-21 | 北京无线电测量研究所 | A kind of health control method and device of servo-system |
| CN109918280B (en) * | 2019-01-31 | 2022-07-12 | 北京无线电测量研究所 | Health management method and device for servo system |
| CN111538314A (en) * | 2020-04-26 | 2020-08-14 | 湖南大学 | Control performance analysis method for alternating current servo system |
| CN111538314B (en) * | 2020-04-26 | 2021-06-18 | 湖南大学 | Control performance analysis method for alternating current servo system |
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