引用本文:付强,陈洪,谢七月.含执行器故障的磁轴承转子位置有限时间容错控制[J].控制理论与应用,2026,43(4):821~831.[点击复制]
FU Qiang,CHEN Hong,XIE Qi-yue.Finite-time fault tolerant control of magnetic bearing rotor position with actuator faults[J].Control Theory & Applications,2026,43(4):821~831.[点击复制]
含执行器故障的磁轴承转子位置有限时间容错控制
Finite-time fault tolerant control of magnetic bearing rotor position with actuator faults
摘要点击 149  全文点击 19  投稿时间：2024-06-26  修订日期：2025-05-22
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DOI编号  10.7641/CTA.2024.40341
  2026,43(4):821-831
中文关键词  磁悬浮轴承  位置控制  滑模控制  扩张状态观测器  执行器故障
英文关键词  magnetic levitation bearing  position control  sliding mode control  expanded state observer  actuator faults
基金项目  国家自然科学基金项目(62373067)资助.
作者单位E-mail
付强 长沙理工大学电气与信息工程学院 fuqiang-0812@163.com 
陈洪 长沙理工大学电气与信息工程学院  
谢七月* 长沙理工大学电气与信息工程学院 qyxie168@163.com 
中文摘要
      本文针对主动磁悬浮轴承系统在外部干扰、执行器故障情况下转子位置跟踪控制问题, 提出一种基于扩张 状态观测器和非奇异快速终端滑模的有限时间容错跟踪控制策略, 以解决普通滑模控制不能有限时间收敛和传统 容错控制带来的磁轴承系统设计成本高、体积大的不足. 首先, 本文设计了扩张状态观测器, 以估计磁轴承系统包 含内外扰动和执行器故障的集总扰动项, 实现系统扰动补偿与解耦. 基于以上, 引入非奇异快速终端滑模面, 设计有 限时间容错控制器, 实现磁轴承转子位置的有限时间容错控制. 最后, 利用Lyapunov函数对所设计控制器的稳定性 和有限时间内收敛进行了分析证明. 通过仿真实验对比验证了所设计控制器的有效性和优越性.
英文摘要
      This paper presents a novel finite-time fault-tolerant tracking control strategy. This strategy addresses the infinite-time convergence issues inherent in conventional sliding mode control, which reduces the high design costs and large size associated with traditional fault-tolerant control approaches. The proposed strategy is specifically tailored to enhance rotor position tracking control in active magnetic levitation bearing systems. It ensures robust performance in the presence of external disturbances and actuator failures. The strategy integrates two key components: An extended state observer (ESO) and a non-singular fast terminal sliding mode. Firstly, an ESO is designed to estimate the aggregate perturbation term of the magnetic bearing system. This term includes internal and external perturbations, as well as actuator faults. The observer enables system perturbation compensation and decoupling. Secondly, a non-singular fast terminal sliding mode surface is introduced, followed by the design of a finite-time fault-tolerant controller. The stability and finite-time convergence of the designed controller are then analyzed and proven by using Lyapunov functions. Finally, the effectiveness and superiority of the designed controller are verified by simulation experiments.