引用本文:赵永超,方一鸣,刘乐,刘仁和.基于嵌套自适应观测器的 连铸结晶器振动位移系统有限时间容错控制[J].控制理论与应用,2022,39(12):2313~2321.[点击复制]
ZHAO Yong-chao,FANG Yi-ming,LIU Le,LIU Ren-he.Finite-time fault tolerant control for the vibration displacement system of continuous casting mold based on nested adaptive observer[J].Control Theory and Technology,2022,39(12):2313~2321.[点击复制]
基于嵌套自适应观测器的 连铸结晶器振动位移系统有限时间容错控制
Finite-time fault tolerant control for the vibration displacement system of continuous casting mold based on nested adaptive observer
摘要点击 729  全文点击 202  投稿时间：2021-08-04  修订日期：2022-11-04
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DOI编号  10.7641/CTA.2022.10709
  2022,39(12):2313-2321
中文关键词  连铸结晶器  嵌套自适应观测器  容错控制  执行器故障
英文关键词  continuous casting mold  nested adaptive observer  fault tolerant control  actuator faults
基金项目  国家自然科学基金项目(61873226, 61803327), 河北省自然科学基金项目(F2020203018)资助.
作者单位E-mail
赵永超 燕山大学工业计算机控制工程河北省重点实验室 zhaoyc116423@163.com 
方一鸣* 燕山大学工业计算机控制工程河北省重点实验室 fyming@ysu.edu.cn 
刘乐 燕山大学工业计算机控制工程河北省重点实验室  
刘仁和 燕山大学工业计算机控制工程河北省重点实验室  
中文摘要
      针对连铸结晶器振动位移系统存在伺服电机驱动单元等执行器故障和负载转矩扰动问题, 本文提出一种基于嵌套自适应观测器的有限时间容错策略. 首先, 设计一种嵌套自适应观测器在线估计由执行器故障和负载转矩扰动构成的综合不确定项; 其次, 采用分层设计与终端滑模相结合的方法, 分别对位移子系统和电流环子系统设计全阶滑模控制器(FOSMC)和终端滑模控制器补偿综合不确定项, 并通过引入一阶低通滤波器来提高控制信号的连续性. 理论分析表明, 本文所提容错控制策略能够保证闭环系统所有状态有限时间稳定; 最后, 通过仿真对比研究验证了本文所提控制策略的有效性.
英文摘要
      A finite-time fault tolerant control strategy is proposed based on nested adaptive observer for the vibration displacement system of continuous casting mold, in which there exists the actuator faults of servo motor drive unit and the load torque disturbance. Firstly, a nested adaptive observer is designed to estimate the synthetic uncertainty of actuator faults and load torque disturbance online. Secondly, the method of combining hierarchical design and terminal sliding mode is used to design the full-order sliding mode controller and the terminal sliding mode controller for the displacement subsystem and the current loop subsystem to compensate the synthetic uncertainty, respectively, and the first order low-pass filter is introduced to improve the continuity of the control signal. Theoretical analysis shows that the proposed finite-time control strategy can ensure that all states of the closed-loop system are finite-time stable. Finally, the effectiveness of the proposed control strategy is verified by simulation comparison research.