电机与控制应用2024，Vol.51Issue(6)：98-106,9.DOI:10.12177/emca.2024.041
考虑未知惯量与不平衡力矩的四电机同步驱动伺服系统容错控制
Four-Motor Synchronously Driving Servo System Fault-Tolerant Control with Unknown Inertia and Unbalanced Torque
摘要
Abstract
A fault-tolerant control scheme based on command filtered backstepping method is proposed for the failure of a single motor in a four-motor servo system.Firstly,a dynamic model of the fault servo system with unknown inertia and unbalanced torque is established.Subsequently,the controller is designed using command filtered backstepping technology,in which an error compensation system is designed to improve the control accuracy.In addition,the neural network is used to deal with the nonlinear disturbance caused by the faulty motor,and synchronization error signals are designed to achieve synchronization control of the system.Finally,based on the Lyapunov stability theory,the stability of the closed-loop system under the condition of single motor failure is proved.And simulation is designed to verify the effectiveness and superiority of the proposed control method.关键词
四电机伺服系统/命令滤波反步法/容错控制/神经网络Key words
four-motor servo system/command filtered backstepping/fault-tolerant control/neural network分类
信息技术与安全科学引用本文复制引用
辛洪敏,蔡明洁,王保防..考虑未知惯量与不平衡力矩的四电机同步驱动伺服系统容错控制[J].电机与控制应用,2024,51(6):98-106,9.基金项目
国家自然科学基金(62103212,62203381)National Natural Science Foundation of China(62103212,62203381) （62103212,62203381）
