Fault-tolerant control strategy for multicylinder hydraulic press machine based on dynamic control allocation and adjustable multiobjective optimization |
| |
Authors: | Chao Jia Yulin Sun Lifeng Du Hongkun Wang |
| |
Affiliation: | 1. School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, China;2. School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, China
Contribution: Conceptualization, ?Investigation, Methodology, Software, Validation, Writing - original draft;3. Design Institute, Tianjin Tianduan Press Co., Ltd, Tianjin, China
Contribution: Resources, Supervision;4. School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, China
Contribution: Formal analysis, Writing - review & editing |
| |
Abstract: | A hierarchical controller is proposed for achieving high-accuracy control and the dynamic balance with the presence of multiple faults of actuator, the external disturbance, and the model uncertainties in multicylinder hydraulic press machine (MCHPM). The method divides the controller design into three steps: Virtual fault-tolerant control law, control allocation algorithm, and actuator control law, which are progressive. First, to precisely compensate the lumped disturbances including the multiple faults of actuator, the external disturbance, and the model uncertainties, a disturbance observer (DO) is developed. By combining the observer with the sliding mode control (SMC), a virtual fault-tolerant control law is designed. Second, a highly integrated control allocation algorithm for the virtual fault-tolerant control law is proposed to get the desired driving force, taking into account dynamic control allocation (DCA), multiobjective optimization (MOO) and Analytic Hierarchy Process (AHP) simultaneously. Third, taking the driving force obtained from above control allocation algorithm as the desired target, the control law of each cylinder is calculated. The global stability for the whole system is proved by the Lyapunov theory. Lastly, results of simulation and experiment show that the proposed controller can effectively handle different faults and have more superior control performance. |
| |
Keywords: | Multi-cylinder hydraulic press machine Hierarchical controller Fault-tolerant control Dynamic control allocation Multi-objective optimization |
|
|