引用本文:楚晓艳,年晓红,刘静静.基于鲁棒滑模观测器的多电机卷绕系统故障检测和隔离[J].控制理论与应用,2018,35(6):795~804.[点击复制]
CHU Xiao-yan,NIAN Xiao-hong,LIU Jing-jing.Fault detection and isolation for multi-motor web-winding system via robust sliding mode observers[J].Control Theory and Technology,2018,35(6):795~804.[点击复制]
基于鲁棒滑模观测器的多电机卷绕系统故障检测和隔离
Fault detection and isolation for multi-motor web-winding system via robust sliding mode observers
摘要点击 2367  全文点击 1339  投稿时间：2017-05-26  修订日期：2017-11-26
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DOI编号  10.7641/CTA.2017.70353
  2018,35(6):795-804
中文关键词  多电机卷绕系统  滑模观测器  故障检测  故障隔离
英文关键词  multi-motor web-winding system  sliding mode observers  fault detection  fault isolation
基金项目  国家自然科学基金项目(61473314, 61403425, 61621062, 61321003), 中南大学中央高校基本科研业务费专项资金(2017zzts130)资助.
作者单位E-mail
楚晓艳* 中南大学信息科学与工程学院 xyanchu@csu.edu.cn 
年晓红 中南大学信息科学与工程学院  
刘静静 中南大学信息科学与工程学院  
中文摘要
      针对多电机卷绕系统故障检测和隔离问题, 提出了基于滑模观测器的鲁棒故障检测和隔离策略. 首先, 考 虑到多电机卷绕系统运行环境变化引起的摩擦系数、杨式模量、半径和转动惯量等参数的不确定性, 通过引入非线 性未知输入干扰对系统不确定参数进行描述, 将多电机卷绕系统转化为包含执行器故障的一般不确定非线性系统; 其次, 构造鲁棒滑模观测器并用作故障检测观测器, 通过滑模控制来抑制未知输入干扰, 使观测器具有鲁棒性, 在此 基础上, 结合多观测器故障隔离的思想, 提出了可以同时对多个执行器故障进行检测和隔离的方法; 然后, 根据李雅 普诺夫理论得到使观测器系统指数收敛的充分条件, 同时给出了观测器增益的求解方法; 最后, 仿真结果验证了所 提方法的鲁棒性和有效性.
英文摘要
      The robust fault detection and isolation strategy for multi-motor web-winding system with changing operating environment is put forward. Firstly, taking into account the changes of the friction coefficients, Young’s modulus, radii and the moments of the roller, etc. which are caused by the changing operating environment, the unknown input disturbance is introduced to describe the system parameters uncertainties of the multi-motor web-winding system, based on which a generalized nonlinear system dynamic model with actuator faults and uncertainties is constructed. Next, a robust sliding mode observer is developed as fault detection observer to detect actuator faults. Furthermore, multi-observers are used for the multi actuator faults isolation purpose. Then, according to the Lyapunov theory, the sufficient conditions of exponential convergence for the designed observers are derived. Meanwhile, the observer gain matrix is presented. Finally, the simulation is conducted to verify the robustness and effectiveness of the proposed method.