线控转向电动叉车控制系统多故障检测和隔离

Electric steering-by-wire forklift control systemmultiple faults detection and isolation

在复杂工况条件下,针对电动叉车在运行中存在的可靠性、安全性和稳定性问题,提出一种对线控转向电动叉车系统故障检测和隔离的研究方法。首先,搭建了叉车三自由度模型,根据系统故障项和干扰项,建立出叉车故障模型;其次,使用自适应滑模变结构观测器作为故障观测器,根据变结构参数抑制未知输入扰动对系统的干扰,并利用残差信号来设计自适应率;最后,根据系统不同部件工作状态的不同,设定不同的残差阈值,使设计的观测器对特定故障具有较强的敏感性。再利用多观测器思想,可以同时对多个故障精确检测定位,并进行故障隔离。通过实车平台进行了实验,实验结果证明了该设计方法的有效性和准确性。

Under the condition of complex working conditions and aiming at the reliability,safety and stability of electric forklift in operation,a research method for fault detection and isolation of the electric steering-by-wire forklift system is proposed.Firstly,the three-degree-of-freedom model of the forklift is built,and the forklift fault model is established according to the system fault item and the disturbance term.Secondly,the adaptive sliding mode variable structure observer is used as the fault observer.The disturbance of the unknown input disturbance to the system is suppressed according to the variable structure parameters,and the residual signal is used to design the adaptive rate.Finally,according to the different working states of different parts of the system,different residual thresholds are set,so that the designed observer has a strong sensitivity to specific faults.By using the multi-observer idea,multiple faults can be accurately detected and located at the same time,and fault isolation can be performed.The experiment was carried out through the real vehicle platform,and the experimental results proved the validity and accuracy of the design method.