基于嵌套自适应观测器的 连铸结晶器振动位移系统有限时间容错控制

针对连铸结晶器振动位移系统存在伺服电机驱动单元等执行器故障和负载转矩扰动问题, 本文提出一种基于嵌套自适应观测器的有限时间容错策略. 首先, 设计一种嵌套自适应观测器在线估计由执行器故障和负载转矩扰动构成的综合不确定项; 其次, 采用分层设计与终端滑模相结合的方法, 分别对位移子系统和电流环子系统设计全阶滑模控制器(FOSMC)和终端滑模控制器补偿综合不确定项, 并通过引入一阶低通滤波器来提高控制信号的连续性. 理论分析表明, 本文所提容错控制策略能够保证闭环系统所有状态有限时间稳定; 最后, 通过仿真对比研究验证了本文所提控制策略的有效性.

Finite-time fault tolerant control for the vibration displacement system of continuous casting mold based on nested adaptive observer

A finite-time fault tolerant control strategy is proposed based on nested adaptive observer for the vibration displacement system of continuous casting mold, in which there exists the actuator faults of servo motor drive unit and the load torque disturbance. Firstly, a nested adaptive observer is designed to estimate the synthetic uncertainty of actuator faults and load torque disturbance online. Secondly, the method of combining hierarchical design and terminal sliding mode is used to design the full-order sliding mode controller and the terminal sliding mode controller for the displacement subsystem and the current loop subsystem to compensate the synthetic uncertainty, respectively, and the first order low-pass filter is introduced to improve the continuity of the control signal. Theoretical analysis shows that the proposed finite-time control strategy can ensure that all states of the closed-loop system are finite-time stable. Finally, the effectiveness of the proposed control strategy is verified by simulation comparison research.