电动叉车稳定性控制系统传感器故障重构
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摘要
针对电动叉车稳定性控制系统的多个传感器故障检测和重构问题,提出了一种具有自适应调节律的滑模观测器,实现传感器故障的检测和重构。从叉车三自由度模型入手,构造出具有输出扰动的线性状态方程作为其等效的叉车传感器故障模型,并通过定义辅助的状态变量作为输出信号滤波器,将传感器故障转化成执行器故障。依据故障模型和滑模控制理论,给出了基于滑模观测器的传感器故障检测和重构方法并通过自适应算法使观测器设计具有无需知道未知故障上限值的优点。最后通过实验结果,表明该方法是有效的。
Aiming at the problem of multiple sensor fault detection and reconstruction in the electric forklift stability control system,a sliding mode observer with adaptive regulation law is proposed to realize sensor fault detection and reconstruction. Starting from the threedegree-of-freedom model of the forklift,a linear state equation with output disturbance is constructed as its equivalent forklift sensor fault model,and the sensor fault is converted into an actuator fault by defining an auxiliary state variable as an output signal filter. According to the fault model and sliding mode control theory,the sensor fault detection and reconstruction method based on sliding mode observer is given,based on the adaptive algorithm,the observer design has the advantage of not knowing the upper limit of unknown fault. Finally,the experimental results show that the method is effective.
Aiming at the problem of multiple sensor fault detection and reconstruction in the electric forklift stability control system,a sliding mode observer with adaptive regulation law is proposed to realize sensor fault detection and reconstruction. Starting from the threedegree-of-freedom model of the forklift,a linear state equation with output disturbance is constructed as its equivalent forklift sensor fault model,and the sensor fault is converted into an actuator fault by defining an auxiliary state variable as an output signal filter. According to the fault model and sliding mode control theory,the sensor fault detection and reconstruction method based on sliding mode observer is given,based on the adaptive algorithm,the observer design has the advantage of not knowing the upper limit of unknown fault. Finally,the experimental results show that the method is effective.
引文
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[14]贺妍.基于状态反馈的四轮转向叉车LQR优化控制研究[D].合肥:合肥工业大学,2016.HE Y. LQR optimal control about four wheel steeringforklifts based on state feedback[D]. Hefei:HefeiUniversity of Technology,2016.
[15]刘聪,李颖晖,吴辰,等.基于鲁棒自适应滑模观测器的多故障重构[J].控制与决策,2016,31(7):1219-1224.LIU C,LI Y H,WU CH,et al. Design of the robustadaptive sliding mode observer for multiple faultreconstruction[J]. Control and Decision,2016,31(7):1219-1224.
[16] PLESTAN F,SHTESSEL Y,BREGEAULT V,et al.New methodologies for adaptive sliding mode control[J].International Journal of Control, 2010, 83(9):1907-1919.
[2] XU L,TSENG H E. Robust model-based fault detectionfor a roll stability control system[J]. IEEE Transactionson Control Systems Technology,2007,15(3):519-528.
[3] REALPE M,VINTIMILLA B X,VLACIC L. Multi-sensor fusion module in a fault tolerant perception systemfor autonomous vehicles[J]. Journal of Automation andControl Engineering,2016,4(6):430-436.
[4]于蕾艳.汽车线控转向系统故障容错和诊断技术综述[J].重庆交通大学学报(自然科学版),2015,34(5):165-169.YU L Y. Fault tolerant and fault diagnosis technologies ofautomobile steer-by-wire system[J]. Journal ofChongqing Jiaotong University(Natural Science),2015,34(5):165-169.
[5]张昌凡,彭钊,李祥飞,等.基于自适应观测器的鲁棒失磁故障检测方法[J].电子测量与仪器学报,2015,29(4):508-518.ZHANG CH F, PENG ZH, LI X F, et al. Robustdemagnetization failure detection method based onadaptive observer[J]. Journal of Electronic Measurementand Instrumentation,2015,29(4):508-518.
[6]宫勋,赵常均,王丽,等.基于双观测器并行结构的四旋翼无人机故障检测与重构[J].控制与决策,2015,30(7):1214-1218.GONG X, ZHAO CH J, WANG L, et al. Faultsdetection and reconstruction for quad-rotor aircraft basedon double-observers parallel structure[J]. Control andDecision,2015,30(7):1214-1218.
[7]朱芳来,李志强.非线性系统执行器故障检测及重构[J].同济大学学报(自然科学版),2013,41(7):1106-1111.ZHU F L, LI ZH Q. Actuator fault detection andreconstruction for nonlinear systems[J]. Journal of TongjiUniversity(Natural Science), 2013, 41(7):1106-1111.
[8]贾庆贤,张迎春,陈雪芹,等.卫星姿态控制系统故障重构观测器设计[J].宇航学报,2016,37(4):442-450.JIA Q X,ZHANG Y CH,CHEN X J,et al. Observerdesign FR fault reconstruction in satellite attitude controlsystem[J]. Journal of Astronautics, 2016, 37(4):442-450.
[9]余卓平,王竑博,熊璐,等.汽车稳定性控制系统关键传感器故障诊断[J].同济大学学报(自然科学版),2016,44(3):0411-0419.YU ZH P,WANG H B,XIONG L,et al. Fault diagnosisof vehicle stability control system key sensors[J]. Journalof Tongji University(Natural Science),2016,44(3):0411-0419.
[10] LIU X,ZHANG M J,YAO F. Adaptive fault tolerantcontrol and thruster fault reconstruction for autonomousunderwater vehicle[J]. Ocean Engineering,2018(155):10-23.
[11]于金泳,刘志远,陈虹.基于滑模观测器的车辆电子稳定性控制系统故障重构[J].控制理论与应用,2009,26(10):1057-1063.YU J Y,LIU ZH Y,CHEN H. Fault reconstruction inthe vehicle electronic stability control based on slidingmode observers[J]. Control Theory&Applications,2009,26(10):1057-1063.
[12]王德军,宋石尧,王晰聪.汽车侧倾角速度传感器的故障诊断和重构[J].吉林大学学报(信息科学版),2015,33(2):144-152.WANG D J,SONG SH Y,WANG X C. Fault diagnosisand reconfiguration for vehicle roll rate sensor[J].Journal of Jilin University(Information Science Edition),2015,33(2):144-152.
[13]杨柳青,陈无畏.基于传感器信号重构的汽车主动悬架主动容错控制[J].汽车工程,2013,35(12):1084-1091.YANG L Q,CHEN W W. Active fault tolerant control ofvehicle active suspension based on sensor signalreconstruction[J]. Automotive Engineering, 2013,35(12):1084-1091.
[14]贺妍.基于状态反馈的四轮转向叉车LQR优化控制研究[D].合肥:合肥工业大学,2016.HE Y. LQR optimal control about four wheel steeringforklifts based on state feedback[D]. Hefei:HefeiUniversity of Technology,2016.
[15]刘聪,李颖晖,吴辰,等.基于鲁棒自适应滑模观测器的多故障重构[J].控制与决策,2016,31(7):1219-1224.LIU C,LI Y H,WU CH,et al. Design of the robustadaptive sliding mode observer for multiple faultreconstruction[J]. Control and Decision,2016,31(7):1219-1224.
[16] PLESTAN F,SHTESSEL Y,BREGEAULT V,et al.New methodologies for adaptive sliding mode control[J].International Journal of Control, 2010, 83(9):1907-1919.
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