采用滑模观测器的机械臂故障检测与控制优化

针对复合干扰影响下机械臂的故障检测和控制精度问题,提出了一种基于滑模观测器的故障检测和控制优化方法。首先建立了带有电机故障、模型误差和机械摩擦等复合干扰的机械臂系统故障模型,然后设计了滑模观测器来实现在复合干扰下对电机故障的准确检测,最后引入滑模观测器对电机故障程度进行估计,并设计了反步容错控制方法,从而实现了对机械臂系统的精确控制。仿真结果表明,基于滑模观测器的故障检测和控制优化方法能够快速、准确检测和估计电机故障,确保机械臂系统准确跟踪指令信号,角度跟踪误差范围仅为-0.2°～0.2°,能够准确估计出复合干扰的大小,估计误差范围仅为-0.1～0.1 (°)/s²,大大改善了对机械臂的控制效果。

Fault detection and control optimization for manipulator based on sliding mode observer

Aiming at the problem of fault detection and control precision of the manipulator under the influence of complex interference,a fault detection and control optimization method based on sliding mode observer was proposed.Firstly,the fault model of the manipulator system with complex interference such as motor fault,model error and mechanical friction was established.Then,the sliding mode observer was designed to realize the accurate detection of fault motor under complex interference.Finally,the sliding mode observer was introduced to estimate the degree of motor fault,and the back-stepping fault-tolerant control method was designed to realize the precise control of the manipulator system.The simulation results show that the fault detection and control optimization method based on sliding mode observer can detect and estimate motor faults quickly and accurately,and ensure the manipulator system can accurately track command signals,and the angle tracking error range is-0.2°~0.2°.The proposed method can accurately estimate the complex interference,and the estimate error range is-0.1~0.1(°)/s²,which greatly improved the control effect of the manipulator.