CN108233823A - The fault-tolerant eurythmy control method of more motor servo drive systems under a kind of coupling control structure - Google Patents
The fault-tolerant eurythmy control method of more motor servo drive systems under a kind of coupling control structure Download PDFInfo
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- CN108233823A CN108233823A CN201810061660.9A CN201810061660A CN108233823A CN 108233823 A CN108233823 A CN 108233823A CN 201810061660 A CN201810061660 A CN 201810061660A CN 108233823 A CN108233823 A CN 108233823A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Abstract
The present invention discloses a kind of fault-tolerant eurythmy control method of more motor servo drive systems with coupling control structure, the failure of motor and its electric drive module is detected using the tracer of motor servo control system in real time, coupling control structure based on multi-machine system, the motor coordination compensator switch logic module of design fusion fault detection information, improves and coordinates compensator operating mode.It when certain electric machine control system breaks down, cuts off its and coordinates compensator output channel, multi-machine system is made to be converted to master ＆ slave control structure from coupling control structure.Main motor is faulty motor in master ＆ slave control structure, is normal motor from motor, ensures that the proportionate relationship of each motor output in more motor servo drive systems is constant, realizes failure tolerant function；When faulty motor restores normal, the output channel of the motor coordination compensator is connected by fault logic decision-making module, whole system reverts to former coupling control structure again, and the proportionate relationship of each motor output is constant.
Description
Technical field
There is coupling control structure the invention belongs to servo motor driving and control technology field, and more particularly to a kind of
The fault-tolerant control method for coordinating of more motor servo drive systems.
Background technology
In recent years, with the fast development of motor servo control technology, more motor servo drive systems widely should
For weaving, papermaking, drawing, printing and dyeing, the manufactures such as steel rolling and production process automatic control system.It is driven there is more motor servos
In the industrial production of dynamic system, the quality of system coordination performance directly affects the quality of product.When certain motor breaks down,
The coordination proportionate relationship between multi-machine system is caused to change, the control performance of entire production system can be caused to deteriorate, sternly
Immeasurable loss can be brought to enterprise during weight.Therefore, more motor servo drive systems need to have higher reliability, energy
It realizes the fault-tolerant coordination control under certain failure, maintains the original eurythmy performance of whole system and continuous production, be failure
It repairs and maintenance gains time, reduce the loss of enterprise.
The Fault Tolerance Control Technology of current more motor servo drive systems generally conducts a research for fault of converter, using spy
The inverter of different structure makes its switching tube have fault-tolerant operation ability when breaking down, and does not account for the appearance to motor failure itself
Wrong problem.Meanwhile existing more motor fault-tolerant control technologies need specially to design specific fault-tolerant controller, can not utilize original
Normal controller, increase Fault-tolerant Control Design difficulty, system cost and the complexity of implementation.For example, Model Predictive Control
It is widely used in the faults-tolerant control of motor inverter, the function and effect of multiple voltage vectors is predicted using motor model, are re-defined
The energy loss function of motor will be such that the voltage vector of loss function value minimum is applied to as optimal control voltage vector
Motor.The disadvantages of this method is the voltage vector that on-line prediction is wanted to optimize multiple candidates, needs controller configuration performance very high
CPU, and big calculation amount can cause inverter switching frequency too low, reduce motor control accuracy.Neural Network Inverse System solution
Coupling control methods are also applied to the faults-tolerant control of electrical fault, and it is specific to design that it using neural network approaches electrical fault model
Fault-tolerant controller, this kind of fault tolerant control method is complex, is not easy Project Realization.
In summary, the shortcoming of the fault-tolerant Coordinated Control of existing multi-machine system mainly has：
1st, it conducts a research mainly for motor inverter element fault, seldom considers the failure of motor in itself simultaneously.
2nd, fault-tolerant control algorithm is complicated, computationally intensive, it is difficult to realize online quick real-time fault tolerance.
3rd, it needs to design specific fault-tolerant controller for failure system, control strategy is complicated, is not easy to engineering construction.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of more motor servo drive systems with coupling control structure
Fault-tolerant control method for coordinating, motor and its electric drive mould are detected using the tracer of motor servo control system in real time
The failure of block, the coupling control structure based on multi-machine system, the motor coordination compensator of design fusion fault detection information are cut
Logic module is changed, improves and coordinates compensator operating mode.
Realize the object of the invention technical solution be：A kind of fault-tolerant eurythmy control of more motor servo drive systems
Method, more motor servo drive systems have coupling control structure, and more motor servo drive systems include multiple motors of interconnection
Servo drive system, each motor servo drive system include electric machine controller, motor and its electric drive modular system, failure
Detector and coordination compensator, the signal of electric machine controller are exported respectively to corresponding motor and corresponding tracer, institute
State the Reflector signal Ind (k), the motor angular velocity signal w (t) of each motor of the corresponding electric system of tracer output
It exports to corresponding coordination compensator, coordinates compensator and pass through output channel output signal εi(k), signal epsiloni(k) it feeds back to corresponding
Electric machine controller, Reflector signal Ind (k) is input in logical decision module, is passed through the control of logical decision module and is coordinated
Compensator output channel break-make, the alarm signal of logical decision module output pass to warning circuit；
When tracer detects that i-th electric system breaks down, corresponding Reflector signal Indi(k) it puts
Position is disconnected, more motor servos by the corresponding compensator output channel of coordinating of described logical decision module drive electric system
Drive system is converted to master ＆ slave control structure from coupling control structure, and under master ＆ slave control structure, main motor is faulty motor, from
Motor is normal motor, so as to ensure that the original coordination proportionate relationship of entire multi-machine system is constant；When faulty motor system is extensive
When multiple normal, the Reflector signal Ind of corresponding traceri(k) it resets, makes to assist accordingly by logical decision module
Adjust the connection of compensator output channel, system reverts to original coupling control structure, and the ratio between each motor output signal is closed
System is still constant.
Further, the logical decision module is realized using software mode, in upper monitoring machine or every motor control
Embedded logical decision module in the control software of device processed, algorithm realize that flow is：Input the event of all electrical fault detectors
Hinder marking signal Indi(k), Ind is calculatedi(k)=1 number n and its corresponding serial number i；If number n is more than 1, report is triggered
It is alert, multiple motors is prompted to break down, return to main program waiting system further operating instruction；If number n is equal to 1, expression pair
Answer Indi(k)=1 i-th electric system breaks down, it is forced to coordinate compensator CiOutput signal be zero；If number n is
Zero, then show that system operation is normal.
Further, the logical decision module is realized using hardware mode, in the coordination compensator output of every motor
Signal epsiloni(k) a closed type Node Switch s is set in transmission channeli(k)；The failure of the tracer output of each motor
Marking signal Indi(k) as the input signal of the module, to Reflector signal Indi(k) after carrying out logical process, output
While the decision signal OUT (k) of fault detect, the decision signal OUT (k) trigger warning circuit, also serve as stacked switch S's
The input of Enable Pin ES, to generate the coordination compensator C of switch motoriThe control signal T of output terminal on-off actioni(k), it controls
Signal Ti(k) for controlling corresponding closed type Node Switch si(k)。
Further, when the logical decision module is realized using hardware mode, as the decision signal OUT of fault detect
(k)=0 when, stacked switch S is all closed, if the control signal T of outputi(k)=1 when, corresponding i-th motor hair is represented
Raw failure, control signal Ti(k)=1 corresponding Node Switch s is driven at oncei(k) it disconnects, realizes faults-tolerant control function, ensure event
Set eurythmy relationship is constant after barrier；If whole control signal Ti(k)=0 when, multi-machine system fault-free is represented,
It is corresponding to coordinate compensator Node Switch si(k) it maintains to be closed, the eurythmy relationship normal operation of system desirably；
As the decision signal OUT (k)=1 of fault detect, it is meant that there are two or more than two electric machine control systems
It breaks down, at this moment stacked switch S is all off, logical decision module triggering warning circuit, full control signal Ti(k)=0,
The coordination compensator output channel of each motor state of remaining stationary is constant, by the synchronous coordination ability that coupling control structure has,
Set eurythmy relationship is strongly maintained, waiting system takes further action command.
Further, the step of calculating the Reflector signal Ind (k) includes：S1 servo motor failure system), is established
The mathematical model of system；S2 the Function Observer of single motor system, the status signal of real-time estimation electric system), are designed；S3 it), counts
Reflector signal Ind (k) is calculated, detects the failure of single motor control system in real time.
Further, the motor is DC servo motor, step S1) establish the mathematical model of servo motor failure system
Specific method be：
Establish the mathematical model (1) of DC servo motor failure system：
In formula：I (t) is armature supply, and w (t) is motor angular velocity, and R is armature resistance, and L is armature inductance, kbFor anti-electricity
Gesture coefficient, kmIt is moment coefficient, kfIt is joint damping coefficient, Td(t) it is known electric motor load torque signal, ua(t) it is to apply
Control voltage in armature both ends, y (t) is motor Output speed signal, for ease of implementing computer control, using suitable
When discretization method, can obtain corresponding discrete mathematical model (2)：
In formula：K is the sampling time of discretized system, and A, B, D be the discretized system parameter matrix of correspondence dimension, and square
Battle array controllable, (A, C) Observable to (A, B)；
Corresponding failure system mathematical model (3) can obtain according to discrete mathematical model (2)：
In formula：X (k)=[I (k)；W (k)], uc(k) the desired control voltage of device output, f (k) are to include motor in order to control
The fault indication signal of failure itself and electric drive module failure information；Theoretically, when fault-free, f (k)=0；It is former when having
During barrier, f (k) ≠ 0；The failure system mathematical model (3) of above-mentioned DC servo motor system is equivalent to following DC servo motors
Fault model (4)：
Further, step S2) design single motor system Function Observer, the status signal of real-time estimation electric system
Specific method be：
Establish the Function Observer (5) of DC servo motor fault model (4)：
In formula：Z (k) be current time k Function Observer state variable, k-1 be a upper sampling instant, N, K, L,
G is observer parameter to be designed,Estimated value for motor status；
The following formula (6) is solved offline using linear convex optimized algorithm, can obtain parameter matrix P, Y, S：
Wherein P is symmetric positive definite matrix, and Y, S are the parameter matrix of appropriate dimension calculated by formula (6), subscript T tables
Show the transposition of matrix.It can further be calculated by obtained parameter matrix P, Y, S：G=P-1Y, N=(I+GC) A- (P-1S) HC, K
=(I+GC) [B, D], L=P-1S-NG。
Further, step S3) Reflector signal Ind (k) is calculated, the failure of single motor control system is detected in real time
Specific method is：
By step S2) in Function Observer (5) estimated state and Given information, it is known that real time fail indication signal：
Wherein, f (k)=f (k-1) is taken；
Fault misdescription in order to prevent sets the threshold value J of indication signalth>0, and the event of failure definition testing result output
Hinder marking signal Ind (k)：
As Ind (k)=0, show that motor does not have failure or Failure elimination, in normal operating condition；As Ind (k)
=1, show that failure has occurred in the motor.
Compared with prior art, the present invention its remarkable advantage has：
(1) it can be used based on the various effective fault detection techniques of maturation such as Function Observer, design single motor system
Fast failure detector detects the failure of motor and its electric drive module in real time, and detection algorithm is simple, is easy to Project Realization.
(2) in the case where coupling control structure, by design logic decision-making module, motor coordination compensator Working mould is improved
Formula.The break-make of its output channel can be switched in time, to be expired according to the real-time fault detection signal of each motor by coordinating compensator
The coordination fault freedom of meaning.It realizes that the soft and hardware mode of fault tolerance is not required to specially design controller, does not also change normal system
Control algolithm, easy to operate, at low cost, reliability is high.
(3) when some electric machine control system breaks down, through online logical operation, make more motor servo drive systems quick
Master ＆ slave control structure is converted to from coupling control structure, both ensure that the eurythmy between each motor output is constant, maintained
The continuity of production reaches failure tolerant target, and will not cause secondary injury to faulty motor, aggravates the deterioration of its failure, from
And avoid the generation of system serious accident.When faulty motor restores normal, system can revert to original coupling control knot
Structure, the coordination performance of multi-machine system remain unchanged.
(4) it is applied widely.More motor servos that the fault-tolerance approach of the present invention is applicable to a variety of coupling control structures drive
Dynamic system is to the faults-tolerant control of the single motor system failure.Coupling control structure can be cross-couplings, adjacent cross-couplings, partially
The structure types such as difference coupling, annular coupling.
Other than objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is described in further detail.
Description of the drawings
Fig. 1 is the fault-tolerant eurythmy control system architecture schematic diagram that three DC servo motors are formed.
Fig. 2 is the software flow pattern for the logical decision module for coordinating compensator.
Fig. 3 is the hardware capability block schematic diagram of fault detection logic decision-making module.
Fig. 4 is improved coordination compensator hardware capability block schematic diagram.
Fig. 5 is the hardware logic block schematic diagram of the fault logic decision-making module of three motor servo drive systems.
Specific embodiment
In order to be better understood by the technology contents of the present invention, spy lifts specific embodiment and institute's attached drawing is coordinated to be described as follows.
In more servo motors to couple in more motor proportional coordinated control systems that control structure is formed, each motor has
Cross-couplings, adjacent cross-couplings, deviation coupling may be used in independent servo-control system, the coupling control structure of multiple electric motors
The multiple structural forms such as conjunction, annular coupling, the physics realization of system can be distribution/collecting and distributing control system or centralization
Control system framework.Non- cause occurs for certain single motor or its electric drive module for considering this kind of more motor coupling control systems
Life property failure although can remain in operation, is unable to maintain that desired eurythmy relationship between each motor output of whole system, needs
A kind of faults-tolerant control strategy is designed, before and after ensureing that failure occurs, the proportionate relationship of each motor output is constant.
The present invention uses existing servo control system fault detection technique, to the one failure inspection of every design of electrical motor
Device is surveyed, rapidly and accurately to detect the above-mentioned fault message of single motor.
Logical decision module of the present invention design based on electrical fault detection information, to improve the work of motor coordination compensator
Operation mode, makes the output of coordination compensator can carry out break-make switching in time according to the fault message detected, realizes faults-tolerant control
Function ensures that each motor of whole system desired proportion relationship set between exporting is constant.
A kind of fault-tolerant eurythmy control method of more motor servo drive systems, more motor servo drive systems have coupling
Control structure, more motor servo drive systems include multiple motor servo drive systems of interconnection, each motor servo driving system
System includes electric machine controller, motor and its electric drive modular system, tracer and coordinates compensator, electric machine controller
Signal is exported respectively to corresponding motor and corresponding tracer, the event of the corresponding electric system of tracer output
Hinder marking signal Ind (k), the motor angular velocity signal w (k) of each motor is exported to corresponding coordination compensator, coordinates compensation
Device passes through output channel output signal εi(k), signal epsiloni(k) corresponding electric machine controller, Reflector signal Ind (k) are fed back to
It is input in logical decision module, is controlled by logical decision module and coordinate compensator output channel break-make, logical decision module
The alarm signal of output passes to warning circuit；
When tracer detects that i-th electric system breaks down, corresponding Reflector signal Indi(k) it puts
Position is disconnected, more motor servos by the corresponding compensator output channel of coordinating of described logical decision module drive electric system
Drive system is converted to master ＆ slave control structure from coupling control structure, and under master ＆ slave control structure, main motor is faulty motor, from
Motor is normal motor, so as to ensure that the original coordination proportionate relationship of entire multi-machine system is constant；When faulty motor system is extensive
When multiple normal, the Reflector signal Ind of corresponding traceri(k) it resets, makes to assist accordingly by logical decision module
Adjust the connection of compensator output channel, system reverts to original coupling control structure, and the ratio between each motor output signal is closed
System is still constant.
A kind of fault-tolerant eurythmy control method with the more motor servo driving control systems for coupling control structure,
The design realization of fault-tolerant control method for coordinating includes the following steps：
Step 1, consider single motor in itself and its electric drive module occur fault-tolerance failure (non-lethal failure),
Using appropriate fault detection technique, the tracer of motor is designed, rapidly and accurately to detect the above-mentioned failure of motor
Information.
Here by taking DC servo motor speed control system as an example, a kind of tracer based on Function Observer is provided
Design method.But the present invention can combine specific motor type when implementing, using any effective electrical fault Fast Detection Technique
Design error failure detector is not limited to the design method of this example elaboration.
S1 the mathematical model of DC servo motor failure system), is established.
In general, the linearized theory model of DC servo motor is：
In formula：I (t) is armature supply, and w (t) is motor angular velocity, and R is armature resistance, and L is armature inductance, kbFor anti-electricity
Gesture coefficient, kmIt is moment coefficient, kfIt is joint damping coefficient, Td(t) it is known electric motor load torque signal, ua(t) it is to apply
Control voltage in armature both ends, y (t) is motor Output speed signal, for ease of implementing computer control, using suitable
When discretization method, can obtain corresponding discrete mathematical model：
In formula：K is the sampling time of discretized system, and A, B, D be the discretized system parameter matrix of correspondence dimension, and square
Battle array controllable, (A, C) Observable to (A, B).
The fluctuation of electric drive module generation inverter power supply, some switch power tube failure when motor etc. are non-lethal
Property failure, can cause module export practical control voltage (be loaded into armature both end voltage ua(k)) deviation control device exports
Desired control voltage uc(k).The failure of motor in itself is referred mainly to due to motor damage of internal device or aging so that reflection electricity
Significant change occurs for the parameter value of dynamics, and certain parameter values of above-mentioned motor Controlling model (2) is caused far to deviate it just
Normal nominal value.Through theory deduction, corresponding failure system mathematical model can obtain according to motor system model (2)：
In formula：X (k)=[I (k)；W (k)], uc(k) the desired control voltage of device output, f (k) are to include motor in order to control
The fault indication signal of failure itself and electric drive module failure information.Theoretically, f (k)=0 when fault-free, it is former when having
F (k) ≠ 0 during barrier.The fault model (3) of above-mentioned DC servo motor system is equivalent to：
S2 the Function Observer of single motor system, the status signal of real-time estimation electric system), are designed.
Establish the Function Observer of DC servo motor fault model (4)：
In formula：Z (k) be current time k Function Observer state variable, k-1 be a upper sampling time, N, K, L,
G is observer parameter to be designed,Estimated value for motor status.
The following formula (6) is solved offline using linear convex optimized algorithm, can obtain parameter matrix P, Y, S.
Wherein P is symmetric positive definite matrix, and Y, S are the parameter matrix of appropriate dimension calculated by formula (6), subscript T tables
Show the transposition of matrix.It can further be calculated by obtained parameter matrix P, Y, S：G=P-1Y, N=(I+GC) A- (P-1S) HC, K
=(I+GC) [B, D], L=P-1S-NG。
S3 fault indication signal), is calculated, detects the failure of single motor control system in real time.
By S2) in Function Observer estimated state and Given information, it is known that real time fail indication signal：
Take f (k)=f (k-1).Fault misdescription in order to prevent sets the threshold value J of indication signalth>0, and failure definition is examined
Survey the marking signal Ind (k) of result output：
As Ind (k)=0, show that motor does not have failure or Failure elimination, in normal operating condition.As Ind (k)
=1, show that failure has occurred in the motor.
Step 2, logical decision module of the design based on electrical fault detection information.
In the case where multi-machine system couples control structure, faults-tolerant control core concept of the present invention：When tracer detects
I-th electric system breaks down, Reflector signal Indi(k) set by logical decision module, disconnects the department of electrical engineering
System coordinates the output channel of compensator.Multi-machine system is converted to master ＆ slave control structure from coupling control structure.In master ＆ slave control
Under structure, main motor is faulty motor, is normal motor from motor, ensures the original coordination proportionate relationship of entire multi-machine system
It is constant.When faulty motor restores normal, the Reflector signal Ind of traceri(k) it resets, by logical decision
Module connects it and coordinates compensator output channel.System reverts to original coupling control structure, the ratio between each motor output
Example relationship is still constant.
According to faults-tolerant control core concept of the present invention, for controlling the logical decision mould for coordinating compensator output channel break-make
Block, can be according to actual system configuration demand, using software or hardware implementation mode.
1) software mode：An embedded fault detect in upper monitoring machine or the control software of every electric machine controller
Logical decision module, algorithm realize flow as shown in Figure 2, and main flow is as follows：
Input the Reflector signal Ind of all electrical fault detectorsi(k), Ind is calculatedi(k)=1 number n and its
Corresponding serial number i.If number n be more than 1, trigger alarm, multiple motors prompted to break down, return main program waiting system into
Step operation instruction；If number n is equal to 1, corresponding Ind is representedi(k)=1 i-th electric system breaks down, and forces its association
Adjust compensator CiOutput signal be zero.If number n is zero, show that system operation is normal.
2) hardware mode：Logical decision module and improvement coordinate the hardware block schematic diagram of compensator as shown in Figure 3,4.
In the coordination compensator output signal ε of every motori(k) a closed type Node Switch s is set in transmission channeli(k)。
(1) fault detection logic decision-making module is designed and produced using suitable digital logic device.The input signal of module
Reflector signal Ind for each electrical fault detectori(k), by the module to inputting marking signal Indi(k) it is patrolled
After collecting processing, the decision signal OUT (k) of fault detect is exported.The warning circuits such as the decision signal OUT (k) triggering failure acousto-optics
While, the input of the Enable Pin ES of stacked switch S is also served as, coordinates compensator C to generate switch motoriOutput terminal break-make is moved
The control signal T of worki(k)。
(2) logic true value table of design error failure detection logical decision module is as shown in the following table 1,2.
The logic true value table of 1. fault detection logic decision of table
Table 2 generates control signal Ti(k) logic true value table
As the decision signal OUT (k)=0 of fault detect, stacked switch S is all closed, if the control signal of output
Ti(k)=1 when, represent that corresponding i-th motor breaks down, control signal Ti(k)=1 corresponding Node Switch is driven at once
si(k) it disconnects, realization faults-tolerant control function, set eurythmy relationship is constant after guarantee failure.If whole control letter
Number Ti(k)=0 when, multi-machine system fault-free is represented, it is corresponding to coordinate compensator Node Switch si(k) it maintains to be closed, system is pressed
According to desired eurythmy relationship normal operation.
As the decision signal OUT (k)=1 of fault detect, it is meant that there are two or more than two electric machine control systems
It breaks down, at this moment stacked switch S is all off, logical decision module triggering warning circuit, full control signal Ti(k)=0,
The coordination compensator output channel of each motor state of remaining stationary is constant, by the synchronous coordination ability that coupling control structure has,
Set eurythmy relationship is strongly maintained, waiting system takes further action command.
Embodiment 1
The fault-tolerant control of eurythmy under deviation coupling control structure is formed with three DC servo motor drive systems below
For method design processed.
A kind of fault-tolerant eurythmy control system with the three motor servo driving control systems for coupling control structure, such as
Shown in Fig. 1.In Fig. 1, λ1、λ2And λ3The eurythmy coefficient of three motor angular velocities for setting, wdIt is expected speed preset
Amount, εi(k) output signal for coordination compensator, s1(k)、s2(k) and s3(k) it is respectively to be arranged on coordination compensator output to lead to
Closed type Node Switch on road.Three tracers are to the motor of single motor control system and its event of electric drive module
Barrier is detected in real time, obtains Reflector signal Indi(k).Improved coordination compensator is believed according to three electrical fault marks
Number Indi(k) on off operating mode of each output channel is determined.The switching for coordinating compensator output channel on off operating mode may be used
Software mode (see Fig. 2) can also use hardware mode (see Fig. 5).Switching principle, that is, fault-tolerant thought is：When tracer is examined
It measures i-th electric system to break down, Reflector signal Indi(k) set by logical decision module, drives the electricity
The output channel of machine system coordination compensator disconnects.Multi-machine system is converted to master ＆ slave control structure from coupling control structure.
Under master ＆ slave control structure, main motor is faulty motor, is normal motor from motor, so as to ensure that entire multi-machine system is original
It is constant to coordinate proportionate relationship.When faulty motor restores normal, the Reflector signal Ind of traceri(k) it resets,
By logical decision module, it is made to coordinate the connection of compensator output channel.System reverts to original coupling control structure, each electricity
Proportionate relationship between machine output signal is still constant.
Above-mentioned technical proposal, specific implementation include the following steps：
Step 1, consider single motor in itself and its electric drive module occur fault-tolerance failure (non-lethal failure),
Using appropriate fault detection technique, the tracer of motor is designed, rapidly and accurately to detect the above-mentioned failure of motor
Information.
Here by taking DC servo motor speed control system as an example, a kind of tracer based on Function Observer is provided
Design method.But the present invention can combine specific motor type when implementing, using any effective electrical fault Fast Detection Technique
Design error failure detector is not limited to the design method of this example elaboration.
S1 the mathematical model of DC servo motor failure system), is established.
In general, the linearized theory model of DC servo motor is：
In formula：I (t) is armature supply, and w (t) is motor angular velocity, and R is armature resistance, and L is armature inductance, kbFor anti-electricity
Gesture coefficient, kmIt is moment coefficient, kfIt is joint damping coefficient, Td(t) it is known electric motor load torque signal, ua(t) it is to apply
Control voltage in armature both ends, y (t) are motor Output speed signal.For ease of implementing computer control, using suitable
When discretization method, can obtain corresponding discrete mathematical model：
In formula：K is the sampling time of discretized system, and A, B, D be the discretized system parameter matrix of correspondence dimension, and square
Battle array controllable, (A, C) Observable to (A, B).
The fluctuation of electric drive module generation inverter power supply, some switch power tube failure when motor etc. are non-lethal
Property failure, can cause module export practical control voltage (be loaded into armature both end voltage ua(k)) deviation control device exports
Desired control voltage uc(k).The failure of motor in itself is referred mainly to due to motor damage of internal device or aging so that reflection electricity
Significant change occurs for the parameter value of dynamics, and certain parameter values of above-mentioned motor Controlling model (2) is caused far to deviate it just
Normal nominal value.Through theory deduction, corresponding failure system mathematical model can obtain according to motor system model (2)：
In formula：X (k)=[I (k)；W (k)], uc(k) the desired control voltage of device output, f (k) are to include motor in order to control
The fault indication signal of failure itself and electric drive module failure information.Theoretically, f (k)=0 when fault-free, it is former when having
F (k) ≠ 0 during barrier.The fault model (3) of above-mentioned DC servo motor system is equivalent to：
S2 the Function Observer of single motor system, the status signal of real-time estimation electric system), are designed.
Establish the Function Observer of DC servo motor fault model (4)：
In formula：Z (k) be current time k Function Observer state variable, k-1 be a upper sampling time, N, K, L,
G is observer parameter to be designed,Estimated value for motor status.
The following formula (6) is solved offline using linear convex optimized algorithm, can obtain parameter P, Y, S.
Wherein P is symmetric positive definite matrix, and Y, S are the parameter matrix of appropriate dimension calculated by formula (6), subscript T tables
Show the transposition of matrix.It can further be calculated by obtained parameter matrix P, Y, S：G=P-1Y, N=(I+GC) A- (P-1S) HC, K
=(I+GC) [B, D], L=P-1S-NG。
S3 fault indication signal), is calculated, detects the failure of single motor control system in real time.
By S2) in Function Observer estimated state and Given information, it is known that real time fail indication signal：
Take f (k)=f (k-1).Fault misdescription in order to prevent sets the threshold value J of indication signalth>0, and failure definition is examined
Survey the marking signal Ind (k) of result output：
As Ind (k)=0, show that motor does not have failure or Failure elimination, in normal operating condition.As Ind (k)
=1, show that failure has occurred in the motor.
Step 2, the logical decision module for designing three motor servo drive systems.
In the case where three motor servo drive systems couple control structure, the core concept of faults-tolerant control of the present invention：When failure is examined
It surveys device and detects that i-th electric system breaks down, Reflector signal Indi(k) set by logical decision module, is driven
Move the output channel disconnection that the electric system coordinates compensator.Three electric systems are converted to master ＆ slave control knot from coupling control structure
Structure.Under master ＆ slave control structure, main motor is faulty motor, is other two normal motors from motor, so as to ensure three motors
The original coordination proportionate relationship of system is constant.When faulty motor restores normal, the Reflector signal of tracer
Indi(k) it resets, by logical decision module, it is made to coordinate the connection of compensator output channel.System reverts to original coupling
Control structure, the proportionate relationship between each motor output signal are still constant.
According to faults-tolerant control core concept of the present invention, for controlling the logical decision mould for coordinating compensator output channel break-make
Block, can be according to actual system configuration demand, using software or hardware implementation mode.
1) software mode：A failure can be embedded in upper monitoring machine or the control software of every electric machine controller
Logical decision module is detected, algorithm realizes that flow such as attached drawing 2 such as shows：
Input the Reflector signal Ind of all three electrical fault detectorsi(k), Ind is calculatedi(k)=1 number n
And corresponding serial number i.If number n is more than 1, the multiple motor system faults of alarm.If number n is equal to 1, and corresponding Indi
(k)=1 i-th electrical fault then enables it coordinate compensator CiOutput signal be zero.If number n is zero, show system
Normal operation.
2) hardware mode：Three motor servo drive system logical decision modules and the hardware blocks for improving coordination compensator
Schematic diagram is as shown in Figure 5.In the coordination compensator output signal ε of every motori(k) setting one is normally closed in transmission channel
Type Node Switch si(k)。
(1) fault detection logic decision-making module is designed and produced using digital logic devices such as NAND gates.The input letter of module
Number be each electrical fault detector Reflector signal Indi(k), by the module to marking signal Indi(k) logic is carried out
After processing, the decision signal OUT (k) of fault detect is exported.Decision signal OUT (k) triggers the same of the warning circuits such as failure acousto-optic
When, it also serves as inputting with the Enable Pin ES of gate logic stacked switch S, coordinates compensator C to generate switch motoriOutput terminal break-make
The control signal T of actioni(k)。
(2) logic true value table such as the following table 1,2 of the fault detection logic decision-making module of three motor servo drive systems of design
It is shown.
The logic true value table of 1. fault detection logic decision of table
Table 2 generates control signal Ti(k) logic true value table
As the decision signal OUT (k)=0 of fault detect, stacked switch S is all closed, if the control signal of output
Ti(k)=1 when, represent that corresponding i-th motor breaks down, control signal Ti(k)=1 corresponding Node Switch is driven at once
si(k) it disconnects, realization faults-tolerant control function, set eurythmy relationship is constant after guarantee failure.If whole control letter
Number Ti(k)=0 when, multi-machine system fault-free is represented, it is corresponding to coordinate compensator Node Switch si(k) it maintains to be closed, system is pressed
According to desired eurythmy relationship normal operation.
As the decision signal OUT (k)=1 of fault detect, i.e., there are two or more than two single motor control systems occur
During failure, decision OUT (k) triggering warning circuits, stacked switch S is all off, all control signal Ti(k)=0, each motor
Coordinate that compensator output channel state of remaining stationary is constant, by the synchronous coordination ability of coupling control structure, strongly maintain set
Eurythmy relationship, waiting system takes further action command.
The present invention detects motor and its electric drive module in real time using the tracer of motor servo control system
Failure.Coupling control structure based on multi-machine system, the motor coordination compensator switching of design fusion fault detection information are patrolled
Module is collected, improves and coordinates compensator operating mode.When certain electric machine control system breaks down, cut off its and coordinate compensator output
Channel makes multi-machine system be converted to master ＆ slave control structure from coupling control structure.Main motor is failure in master ＆ slave control structure
Motor is normal motor from motor, ensures that the proportionate relationship of each motor output in more motor servo drive systems is constant, realizes event
Hinder fault tolerance.When faulty motor restores normal, the output channel of the motor coordination compensator is connected by switch logic module, it is whole
A system reverts to former coupling control structure again, and the proportionate relationship of each motor output is constant.Therefore, the present invention is realized various
It couples under control structure, the fault-tolerant coordination control when single motor control system of more motor servo drive systems breaks down,
It can guarantee that the eurythmy relationship of each motor output is constant.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
- A kind of 1. fault-tolerant eurythmy control method of more motor servo drive systems, which is characterized in that more motor servo driving systems System has coupling control structure, and more motor servo drive systems include multiple motor servo drive systems of interconnection, each motor Servo drive system includes electric machine controller, motor and its electric drive module, tracer and coordinates compensator, motor control The signal of device processed is exported respectively to corresponding motor and corresponding tracer, the corresponding department of electrical engineering of tracer output The Reflector signal Ind (k) of system, the motor angular velocity signal w (k) of each motor are exported to corresponding coordination compensator, association Compensator is adjusted to pass through output channel output signal εi(k), signal epsiloni(k) corresponding electric machine controller, Reflector signal are fed back to Ind (k) is input in logical decision module, is controlled by logical decision module and is coordinated compensator output channel break-make, and logic is determined The alarm signal of plan module output passes to warning circuit；When tracer detects that i-th electric system breaks down, corresponding Reflector signal Indi(k) set passes through The corresponding compensator output channel of coordinating of described logical decision module drive electric system disconnects, more motor servo drive systems Master ＆ slave control structure is converted to from coupling control structure, under master ＆ slave control structure, main motor is faulty motor, from motor for just Normal motor, so as to ensure that the original coordination proportionate relationship of entire multi-machine system is constant；When faulty motor system restores normal, The Reflector signal Ind of corresponding traceri(k) it resets, makes to coordinate compensator accordingly by logical decision module Output channel connects, and system reverts to original coupling control structure, and the proportionate relationship between each motor output signal is still not Become.
- 2. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 1, which is characterized in that institute Logical decision module is stated to realize using software mode, it is embedded in upper monitoring machine or the control software of every electric machine controller Logical decision module, algorithm realize that flow is：Input the Reflector signal Ind of all electrical fault detectorsi(k), it counts Calculate Indi(k)=1 number n and its corresponding serial number i；If number n is more than 1, alarm is triggered, prompts multiple motors that event occurs Barrier returns to main program waiting system further operating instruction；If number n is equal to 1, corresponding Ind is representedi(k)=1 i-th electricity Machine system jam forces it to coordinate compensator CiOutput signal be zero；If number n is zero, show system operation just Often.
- 3. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 1, which is characterized in that institute It states logical decision module to realize using hardware mode, in the coordination compensator output signal ε of every motori(k) transmission channel One closed type Node Switch s of upper settingi(k)；The Reflector signal Ind of the tracer output of each motori(k) conduct The input signal of the module, to Reflector signal Indi(k) after carrying out logical process, the decision signal of fault detect is exported While OUT (k), the decision signal OUT (k) trigger warning circuit, the input of the Enable Pin ES of stacked switch S is also served as, with Generate the coordination compensator C of switch motoriThe control signal T of output terminal on-off actioni(k), control signal Ti(k) for controlling Corresponding closed type Node Switch si(k)。
- 4. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 3, which is characterized in that institute When stating logical decision module and being realized using hardware mode, as the decision signal OUT (k)=0 of fault detect, stacked switch S is complete Portion is closed, if the control signal T of outputi(k)=1 when, represent that corresponding i-th motor breaks down, control signal Ti(k) =1 drives corresponding Node Switch s at oncei(k) it disconnects, realization faults-tolerant control function, set eurythmy after guarantee failure Relationship is constant；If whole control signal Ti(k)=0 when, multi-machine system fault-free is represented, it is corresponding to coordinate compensator section Point switch si(k) it maintains to be closed, the eurythmy relationship normal operation of system desirably；As the decision signal OUT (k)=1 of fault detect, it is meant that there are two or more than two electric machine control systems occur Failure, at this moment stacked switch S is all off, logical decision module triggering warning circuit, full control signal Ti(k)=0, each electricity The coordination compensator output channel of machine state of remaining stationary is constant, by the synchronous coordination ability that coupling control structure has, strongly Set eurythmy relationship is maintained, waiting system takes further action command.
- 5. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 1, which is characterized in that meter The step of calculating the Reflector signal Ind (k) includes：S1 the mathematical model of servo motor failure system), is established；S2 it), sets Count the Function Observer of single motor system, the status signal of real-time estimation electric system；S3 Reflector signal Ind), is calculated (k), the failure of single motor control system is detected in real time.
- 6. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 5, which is characterized in that institute Motor is stated as DC servo motor, step S1) specific method of mathematical model of establishing servo motor failure system is：Establish the mathematical model (1) of DC servo motor failure system：In formula：I (t) is armature supply, and w (t) is motor angular velocity, and R is armature resistance, and L is armature inductance, kbFor back-emf system Number, kmIt is moment coefficient, kfIt is joint damping coefficient, Td(t) it is known electric motor load torque signal, ua(t) it is applied to electricity The control voltage at armature both ends, y (t) is motor Output speed signal, for ease of implementing computer control, using appropriate Discretization method can obtain corresponding discrete mathematical model (2)：In formula：K is the sampling time of discretized system, and A, B, D be the discretized system parameter matrix of correspondence dimension, and matrix pair (A, B) is controllable, (A, C) Observable；Corresponding failure system mathematical model (3) can obtain according to discrete mathematical model (2)：In formula：X (k)=[I (k)；W (k)], uc(k) in order to control device output desired control voltage, f (k) be comprising motor in itself The fault indication signal of failure and electric drive module failure information；Theoretically, when fault-free, f (k)=0；When faulty When, f (k) ≠ 0；The failure system mathematical model (3) of above-mentioned DC servo motor system is equivalent to following DC servo motors events Hinder model (4)：
- 7. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 6, which is characterized in that step Rapid S2) design single motor system Function Observer, the specific method of the status signal of real-time estimation electric system is：Establish the Function Observer (5) of DC servo motor fault model (4)：In formula：Z (k) is the state variable of the Function Observer of current time k, and k-1 is a upper sampling instant, and N, K, L, G are Observer parameter to be designed,Estimated value for motor status；The following formula (6) is solved offline using linear convex optimized algorithm, can obtain parameter matrix P, Y, S：Wherein P is symmetric positive definite matrix, and Y, S are the parameter matrix of appropriate dimension calculated by formula (6), and subscript T represents square The transposition of battle array.It can further be calculated by obtained parameter matrix P, Y, S：G=P-1Y, N=(I+GC) A- (P-1S) HC, K=(I + GC) [B, D], L=P-1S-NG。
- 8. the fault-tolerant eurythmy control method of more motor servo drive systems according to claim 7, which is characterized in that step Rapid S3) Reflector signal Ind (k) is calculated, the specific method for detecting the failure of single motor control system in real time is：By step S2) in Function Observer (5) estimated state and Given information, it is known that real time fail indication signal：Wherein, f (k)=f (k-1) is taken；Fault misdescription in order to prevent sets the threshold value J of indication signalth>0, and the failure mark of failure definition testing result output Will signal Ind (k)：As Ind (k)=0, show that motor does not have failure or Failure elimination, in normal operating condition；When Ind (k)=1, Show that failure has occurred in the motor.
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Application publication date: 20180629 Assignee: NANTONG LIWEI MACHINERY Co.,Ltd. Assignor: NANJING University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022980007239 Denomination of invention: A fault tolerant proportional coordinated control method for multi motor servo drive system with coupled control structure Granted publication date: 20200707 License type: Common License Record date: 20220607 |
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