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| 基于未知输入观测器的EHA容错控制研究 |
| Research on EHA Fault-tolerant Control Based on Unknown Input Observer |
| 投稿时间：2023-10-11 修订日期：2023-10-11 |
| DOI： |
| 中文关键词: 电液执行器 容错控制 未知输入观测器 故障补偿 |
| 英文关键词: Electro-hydraulic actuator Fault tolerant control Unknown input observer Fault compensation |
| 基金项目:2021年高校学科（专业）拔尖人才学术资助项目（gxbjZD2021100）；安徽省高校自然科学研究重点项目(KJ2020A1108)；2019年学校特色高水平专业机械设计与制造专业建设项目(2019tgzy01) |
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| 中文摘要: |
| 电液执行器（Electro-hydraulic Actuator）以其独特的优点在现代工业中得到了广泛的应用。但是EHA系统中可能存在传感器故障和执行器故障，使系统不稳定和不安全。为了解决这些问题，提出并开发了一种用于EHA系统的容错控制技术。首先建立并改进了系统的数学模型，利用PID控制器进行位置跟踪控制；其次，采用未知输入观测器重构来估计状态、干扰和传感器故障；最后利用容错控制技术，实现故障补偿过程，确保稳定性和跟踪性能，并进行了数值模拟和实验，证明了所提出的容错控制技术的有效性。 |
| 英文摘要: |
| Electro hydraulic actuators (EHA) have been widely used in modern industry due to their unique advantages. However, there may be sensor and actuator failures in the EHA system, making the system unstable and unsafe. To address these issues, a fault-tolerant control technology for EHA systems has been proposed and developed. Firstly, the mathematical model of the system was established and improved, and a PID controller was used for position tracking control; Secondly, unknown input observer reconstruction is used to estimate states, disturbances, and sensor faults; Finally, using fault-tolerant control technology, the fault compensation process was implemented to ensure stability and tracking performance. Numerical simulations and experiments were conducted to demonstrate the effectiveness of the proposed fault-tolerant control technology. |
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