Robust Decentralized Fault Estimation for Loss of Actuator Effectiveness of Multi-motor Web-winding System
Robust Decentralized Fault Estimation for Loss of Actuator Effectiveness of Multi-motor Web-winding System
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DOI：
10.1007/s12555-018-0239-y
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发表时间：
2019-03
期刊：
影响因子：
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通讯作者：
Xiaoyan Chu;X. Nian;Miaoping Sun;Haibo Wang;Hongyun Xiong
中科院分区：
文献类型：
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作者：
Xiaoyan Chu;X. Nian;Miaoping Sun;Haibo Wang;Hongyun Xiong
针对多电机卷筒纸卷绕系统，提出了一种估计执行器失电故障的方法。首先，将卷筒纸卷绕系统看作由多个动态子系统组成的综合系统，给出了各子系统的动态模型。然后，引入非线性坐标变换，得到一个具有块三角结构的变换系统，并允许子系统之间的互连。其次，设计了一个分散自适应高增益滑模观测器，用于估计系统执行器失功故障。同时，可以获得估计误差动态。利用李雅普诺夫理论，给出了估计误差系统渐近稳定的充分条件，并得到了滑模增益和故障估计律。在此基础上，利用坐标逆变换设计了多电机卷取系统的故障估计观测器。最后，对三电机卷取系统进行了仿真分析，验证了所提方法的有效性。
This paper develops a method estimating the actuator power loss faults for the multi-motor web-winding system. Firstly, the web-winding system is regarded as a synthetic system with several dynamic subsystems and their dynamic models are given. Then, the nonlinear coordinate transformation is introduced to obtain a transformed system with block triangular structure and the interconnections among subsystems are allowed. Next, a decentralized adaptive high-gain observer with sliding-mode is designed for the obtained transformed system to estimate the system actuator power loss faults. Meanwhile, the estimation error dynamics can be obtained. Sufficient conditions of asymptotic stability for estimation error system are derived by Lyapunov theory, and the sliding-mode gain and fault estimation law are achieved. After that, the fault estimation observer for original multi-motor web-winding system is designed by inverse coordinate transformation. Finally, the simulations and analysis are implemented on the three-motor web-winding system to verify the effectiveness of the proposed method.