| 引用本文: | 王振华,张文瀚,崔骞,沈毅.集员卡尔曼滤波器在电机故障诊断中的应用[J].控制理论与应用,2023,40(10):1721~1729.[点击复制] |
| WANG Zhen-hua,ZHANG Wen-han,CUI Qian,SHEN Yi.Application of set-membership Kalman filter in motor fault diagnosis[J].Control Theory and Technology,2023,40(10):1721~1729.[点击复制] |
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| 集员卡尔曼滤波器在电机故障诊断中的应用 |
| Application of set-membership Kalman filter in motor fault diagnosis |
| 摘要点击 1450 全文点击 389 投稿时间：2022-07-21 修订日期：2023-10-09 |
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| DOI编号 10.7641/CTA.2023.20649 |
| 2023,40(10):1721-1729 |
| 中文关键词 故障诊断 伺服电机 集员卡尔曼滤波器 中心对称多面体 |
| 英文关键词 fault diagnosis servo motor set-membership Kalman filter zonotope |
| 基金项目 国家自然科学基金项目(61973098, 62033004) |
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| 中文摘要 |
| 本文针对伺服电机提出了一种基于集员卡尔曼滤波器的故障诊断方法并进行了实际应用. 首先, 基于运动学关系和数据驱动技术构建了伺服电机的综合系统动态. 之后, 针对电机的位置–速度模型设计了一个中心对称多面体卡尔曼滤波器来检测位置传感器和速度传感器是否发生故障. 同时, 针对电机的力矩–速度模型设计了一个中心对称多面体卡尔曼滤波器来检测力矩执行器故障和速度传感器故障. 然后, 基于上述的两个中心对称多面体卡尔曼滤波器提出了一种故障隔离律, 可以定位出伺服电机故障部件的位置. 最后, 通过一个实际的伺服电机实验平台对所提出方法进行了应用, 并验证了其可行性与有效性 |
| 英文摘要 |
| This paper proposes a fault diagnosis approach for servo motor based on set-membership Kalman filter and realizes the practical application. Firstly, the integrated dynamic system of servo motor is constructed via the kinematic relationship and data-driven techniques. A zonotopic Kalman filter is then designed for the motor position–velocity model to determine whether the position sensor and velocity sensor are faulty. Meanwhile, a zonotopic Kalman filter is synthesized for the motor torque–velocity model to detect the torque actuator fault and velocity sensor fault. After that, a fault isolation law is proposed with the aid of the presented two zonotopic Kalman filter, which can locate the faulty component of servo motor. Finally, the proposed approach is applied to a practical servo motor experimental platform, and its viability and validity are verified. |
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