A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensat...A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme, where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver, respectively, without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation, and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation.展开更多
基金the National Natural Science Foundation of China （Nos. 51475414, 51475422, and 51521064） and the National Basic Research Program （973） of China （No. 2013CB035405）
文摘A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme, where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver, respectively, without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation, and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation.
