多伺服电机智能化协调容错轨迹跟踪控制系统设计

针对一类具有执行器、传感器故障的多伺服电机控制系统,设计了相应的多伺服电机智能化协调容错轨迹跟踪控制系统.首先,提出了一种新结构的分布式中间估计器,修改了其设计结构,提高了估计方案的可行性.其次,通过在线强化学习估计策略,可以显著提高估计性能,其核心是自适应切换机制与源故障模式定位功能块的集成,并根据估计值设计了协调容...

Design of an intelligent cooperative fault-tolerant trajectory tracking control system for multi-servo motors

For a class of multi-servo motor control systems with actuator and sensor faults, a corresponding multi-servomotor intelligent cooperative fault-tolerant trajectory tracking control system is designed. First, a new structure of the distributedintermediate estimator is proposed, and its design structure is modified to improve the feasibility of the estimationscheme. Next, the estimation performance can be significantly improved by an online reinforcement learning estimationstrategy, whose core is an adaptive switching mechanism integrated with a function block of source fault mode localization,and a cooperative fault-tolerant trajectory tracking controller is designed based on the estimated values. Meanwhile,a visual man-machine interactive interface is designed, which can feed back the real-time position, speed, correspondingposition, speed estimated value and control performance of the servo motors to the monitoring center. The operator canchange the servo input at any time to complete the task adjustment, which can effectively improve the practicability of thesystem. The experimental results of the multi-servo motor control system verify the effectiveness and superiority of theproposed method.