多伺服电机智能化协调容错轨迹跟踪控制系统设计

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

中文关键词  多伺服电机  协调容错轨迹跟踪控制  智能化  在线强化学习估计策略  人机交互

英文关键词  multi-servo motors  cooperative fault-tolerant trajectory tracking control  intelligence  online reinforcement learning estimation strategy  man-machine interaction

中文摘要

      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错轨迹跟踪控制器. 同时, 设计了可视化人机交互操作界面, 可将伺服电机的实时位 置、速度、相应的位置、速度估计值及控制性能等信息反馈至监控中心. 操作人员可随时调节伺服输入, 完成任务 调整, 可有效提升系统实用性. 多伺服电机控制系统的实验结果验证了所提方法的有效性及优越性.

英文摘要

      For a class of multi-servo motor control systems with actuator and sensor faults, a corresponding multi-servo motor intelligent cooperative fault-tolerant trajectory tracking control system is designed. First, a new structure of the distributed intermediate estimator is proposed, and its design structure is modified to improve the feasibility of the estimation scheme. Next, the estimation performance can be significantly improved by an online reinforcement learning estimation strategy, 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, corresponding position, speed estimated value and control performance of the servo motors to the monitoring center. The operator can change the servo input at any time to complete the task adjustment, which can effectively improve the practicability of the system. The experimental results of the multi-servo motor control system verify the effectiveness and superiority of the proposed method.