基于自适应观测器的机床伺服电机故障诊断与控制

Fault diagnosis and control for machine tool servo motor based on adaptive observer

为了提高机床伺服电机在未知负载力矩、电机故障和电磁干扰等不确定性因素的控制精度,提出了一种基于自适应观测器的故障诊断与容错控制方法。首先,建立了带有不确定性和电机故障的机床伺服电机模型;然后,通过设计自适应观测器来实现对电机故障的准确检测和估计;最后,将电机故障与不确定性估计结果引入到积分终端滑模控制中,从而能够确保对机床伺服电机的精确控制。对比仿真实验结果表明:提出的诊断方法能够快速检测出电机故障,并准确估计故障和不确定性,容错控制方法也能够确保伺服电机准确跟踪指令信号,转速和加速度的最大误差分别仅为3 r/min和2 r/min^(2)。

To improve the control accuracy of machine tool servo motor under unknown load torque,motor fault and electromagnetic interference,a fault diagnosis and fault-tolerant control method based on adaptive observer was proposed.Firstly,the servo motor model of machine tool with uncertainty and motor fault was established.Then,the adaptive observers were designed to detect and estimate the motor fault accurately.Finally,the motor fault and uncertainty estimation results were introduced into the integral terminal sliding mode control to ensure the precise control of the servo motor of machine tool.The results of comparative simulation experiments show that the proposed diagnosis method can quickly detect the motor fault and accurately estimate the fault and uncertainty.The fault-tolerant control method can also ensure the servo motor accurately track the command signal,and the maximum errors of speed and acceleration are only 3 r/min and 2 r/min^(2) respectively.