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【24h】 Sliding-Mode-Based Observer–Controller Structure for Fault-Resilient Control in DC Servomotors

机译基于滑模的观测器-控制器结构,用于直流伺服电机的故障恢复控制

【摘要】This paper presents a robust observer- controller scheme for sensor fault-resilient control in dc servomotor drive-based applications (such as antennae control for satellite tracking, radio telescopes, and conveyor belt systems). In contrast to the earlier works on abrupt faults, this paper considers incipient sensor faults and detects using the higher order sliding mode (HOSM) observer, followed by a tracking controller, which maintains the acceptable drive performance. A robust output tracking controller based on fractional integral terminal sliding mode surface with HOSM terms is developed to ensure faster and finite-time convergence of the error trajectory. Moreover, various slopes of incipient faults are considered to analyze the detection delay, and switching strategy reconfigures the system with the estimated speed whenever the residual crosses the threshold. The closed-loop performance in the presence of most common faults (abrupt, incipient, and intermittent) is experimentally validated on a dc motor-based industrial mechatronic drives unit with beltdrive inertial load (which exhibits nonlinear friction, torque variations, and other disturbances).

【摘要机译】本文提出了一种鲁棒的观察器-控制器方案,用于基于直流伺服电动机驱动器的应用中的传感器故障恢复控制(例如,卫星跟踪,射电望远镜和传送带系统的天线控制)。与早期关于突发故障的工作相比,本文考虑了初期传感器故障,并使用高阶滑模(HOSM)观测器进行检测,然后使用跟踪控制器进行检测,以保持可接受的驱动性能。鲁棒的输出跟踪控制器基于分数整数终端滑模面与HOSM条款,以确保更快和有限时间收敛的误差轨迹。此外,考虑了初期故障的各种斜率以分析检测延迟,并且每当残差超过阈值时,切换策略便以估计的速度重新配置系统。在带传动惯性负载(表现出非线性摩擦,扭矩变化和其他干扰)的基于直流电动机的工业机电驱动单元上,通过实验验证了最常见故障(突发,初发和间歇)存在时的闭环性能。 。

【原文格式】PDF

机译 鲁棒性;观察者;伺服电机;扭矩;转子;会聚;延迟;
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