舞臺(tái)威亞系統(tǒng)的協(xié)調(diào)同步與容錯(cuò)控制方法研究
發(fā)布時(shí)間：2018-11-13 20:24
【摘要】：隨著當(dāng)今舞臺(tái)機(jī)械系統(tǒng)技術(shù)的迅速發(fā)展,威亞正逐漸成為舞臺(tái)表演中不可或缺的組成部分。在舞臺(tái)威亞演出過程中如若控制不當(dāng)或發(fā)生故障就有可能導(dǎo)致安全事故,因此借助于高精度同步協(xié)調(diào)容錯(cuò)策略的研究,對(duì)于提高舞臺(tái)威亞控制系統(tǒng)的可靠性和安全性具有重要意義。鑒于此,本文結(jié)合現(xiàn)有舞臺(tái)威亞控制系統(tǒng)結(jié)構(gòu),根據(jù)自抗擾控制(Active Disturbance Rejection Control,ADRC)思想,從建立舞臺(tái)威亞控制系統(tǒng)的“抗擾范式”入手,在深入分析舞臺(tái)威亞運(yùn)動(dòng)學(xué)機(jī)理的基礎(chǔ)上,分別研究了2D/3D舞臺(tái)威亞各自的協(xié)同同步控制策略;針對(duì)編碼器故障,設(shè)計(jì)了基于故障診斷可靠性評(píng)價(jià)(Fault Diagnosis Reliability Evaluation,FDRE)的軟冗余切換機(jī)制,并分別以兩種軟冗余策略實(shí)現(xiàn)了3D舞臺(tái)威亞的軟閉環(huán)容錯(cuò)控制,具體工作如下:首先,從ADRC的基本結(jié)構(gòu)及控制思想入手,詳盡分析了ADRC各組成部分的工作原理及非線性系統(tǒng)“抗擾范式”的建模原理,并在舞臺(tái)威亞系統(tǒng)體系結(jié)構(gòu)及相關(guān)技術(shù)的基礎(chǔ)上,根據(jù)ADRC的“魚骨+魚刺”的建模思想,分別建立了2D/3D舞臺(tái)威亞各自的“抗擾范式”數(shù)學(xué)模型,為實(shí)現(xiàn)舞臺(tái)威亞單機(jī)高精度控制提供了保障,進(jìn)而為實(shí)現(xiàn)舞臺(tái)威亞的協(xié)調(diào)同步控制及故障容錯(cuò)控制方法研究奠定了基礎(chǔ)。其次,針對(duì)機(jī)電參數(shù)攝動(dòng)、鋼繩彈性延伸及負(fù)載變化等對(duì)舞臺(tái)威亞系統(tǒng)造成的影響,提出了基于ADRC及LADRC的2D及3D舞臺(tái)威亞單機(jī)控制策略;然后結(jié)合并聯(lián)硬同步方法及2D、3D舞臺(tái)威亞運(yùn)動(dòng)學(xué)原理,分別設(shè)計(jì)了適宜的軟協(xié)調(diào)同步算法,實(shí)現(xiàn)了舞臺(tái)威亞系統(tǒng)的協(xié)調(diào)同步運(yùn)行。仿真表明,所提出的協(xié)調(diào)同步策略能使舞臺(tái)威亞具有良好的軌跡擬合效果及協(xié)調(diào)同步性能,“隨樂而舞”的藝術(shù)效果得以更好展現(xiàn),具有較高的工程參考價(jià)值。最后,針對(duì)3D舞臺(tái)威亞系統(tǒng)中角位移反饋元件編碼器故障,先設(shè)計(jì)了基于LS-SVM與SPRT結(jié)合的故障診斷方法,進(jìn)而又設(shè)計(jì)了基于FDRE的軟冗余平滑切換機(jī)制;然后分別從不同角度給出了基于LS-SVM預(yù)測(cè)模型軟冗余及系統(tǒng)非故障編碼器輸出解析冗余的容錯(cuò)策略,實(shí)現(xiàn)了舞臺(tái)威亞在編碼器發(fā)生故障情形下的軟閉環(huán)容錯(cuò)運(yùn)行。仿真結(jié)果表明,文中所提出的編碼器故障容錯(cuò)策略,可實(shí)現(xiàn)舞臺(tái)威亞系統(tǒng)編碼器故障的及時(shí)可靠檢測(cè),并使其以軟硬融合平滑過渡的閉環(huán)方式安全高性能容錯(cuò)運(yùn)行。
[Abstract]:With the rapid development of stage mechanical system technology, Wia is becoming an indispensable part of stage performance. In the process of stage Wia performance, if the control is not properly controlled or the fault occurs, it may lead to the safety accident. Therefore, the research of high precision synchronous coordination fault-tolerant strategy is carried out. It is of great significance to improve the reliability and safety of stage Via control system. In view of this, combined with the existing stage Via control system structure, according to the idea of automatic disturbance rejection control (Active Disturbance Rejection Control,ADRC), this paper starts with the establishment of stage Via control system's "disturbance rejection paradigm". On the basis of deeply analyzing the kinematics mechanism of stage Via, the cooperative synchronization control strategies of 2D/3D stage Via are studied respectively. For encoder fault, soft redundancy switching mechanism based on fault diagnosis reliability evaluation (Fault Diagnosis Reliability Evaluation,FDRE) is designed, and software closed loop fault-tolerant control of 3D stage Via is realized by two soft redundancy strategies. The specific work is as follows: firstly, Starting with the basic structure and control idea of ADRC, the working principle of each component of ADRC and the modeling principle of "disturbance rejection paradigm" of nonlinear system are analyzed in detail. According to the modeling idea of "fishbone and fishbone" proposed by ADRC, respectively, the mathematical models of "disturbance rejection paradigm" of 2D/3D stage Via are established, which provides a guarantee for the realization of high-precision control of stage Viya single machine. It lays a foundation for the research of the coordinated synchronous control and fault tolerant control method of stage Via. Secondly, aiming at the influence of mechanical and electrical parameter perturbation, rope elastic extension and load change on stage Via system, a 2D and 3D stage Via single control strategy based on ADRC and LADRC is proposed. Then combining the parallel hard synchronization method and the kinematics principle of 2D 3D stage Via, the suitable soft coordination synchronization algorithm is designed, and the coordinated synchronization of stage Via system is realized. The simulation results show that the proposed coordinated synchronization strategy can make stage Via have a good track fitting effect and coordinated synchronization performance, and the artistic effect of "dance with music" can be better displayed and has a higher engineering reference value. Finally, a fault diagnosis method based on the combination of LS-SVM and SPRT is designed for the encoder fault of angle displacement feedback element in 3D stage Via system, and then the soft redundancy smooth switching mechanism based on FDRE is designed. Then the fault-tolerant strategies of soft redundancy based on LS-SVM prediction model and analytical redundancy of system non-fault encoder output are given from different angles respectively. The soft closed-loop fault-tolerant operation of stage Via encoder is realized when the encoder fails. The simulation results show that the fault tolerance strategy of encoder proposed in this paper can realize the timely and reliable detection of encoder fault in stage Via system and make it run safely and efficiently in closed loop mode of soft and hard fusion smooth transition.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
本文編號(hào)：2330331
[Abstract]:With the rapid development of stage mechanical system technology, Wia is becoming an indispensable part of stage performance. In the process of stage Wia performance, if the control is not properly controlled or the fault occurs, it may lead to the safety accident. Therefore, the research of high precision synchronous coordination fault-tolerant strategy is carried out. It is of great significance to improve the reliability and safety of stage Via control system. In view of this, combined with the existing stage Via control system structure, according to the idea of automatic disturbance rejection control (Active Disturbance Rejection Control,ADRC), this paper starts with the establishment of stage Via control system's "disturbance rejection paradigm". On the basis of deeply analyzing the kinematics mechanism of stage Via, the cooperative synchronization control strategies of 2D/3D stage Via are studied respectively. For encoder fault, soft redundancy switching mechanism based on fault diagnosis reliability evaluation (Fault Diagnosis Reliability Evaluation,FDRE) is designed, and software closed loop fault-tolerant control of 3D stage Via is realized by two soft redundancy strategies. The specific work is as follows: firstly, Starting with the basic structure and control idea of ADRC, the working principle of each component of ADRC and the modeling principle of "disturbance rejection paradigm" of nonlinear system are analyzed in detail. According to the modeling idea of "fishbone and fishbone" proposed by ADRC, respectively, the mathematical models of "disturbance rejection paradigm" of 2D/3D stage Via are established, which provides a guarantee for the realization of high-precision control of stage Viya single machine. It lays a foundation for the research of the coordinated synchronous control and fault tolerant control method of stage Via. Secondly, aiming at the influence of mechanical and electrical parameter perturbation, rope elastic extension and load change on stage Via system, a 2D and 3D stage Via single control strategy based on ADRC and LADRC is proposed. Then combining the parallel hard synchronization method and the kinematics principle of 2D 3D stage Via, the suitable soft coordination synchronization algorithm is designed, and the coordinated synchronization of stage Via system is realized. The simulation results show that the proposed coordinated synchronization strategy can make stage Via have a good track fitting effect and coordinated synchronization performance, and the artistic effect of "dance with music" can be better displayed and has a higher engineering reference value. Finally, a fault diagnosis method based on the combination of LS-SVM and SPRT is designed for the encoder fault of angle displacement feedback element in 3D stage Via system, and then the soft redundancy smooth switching mechanism based on FDRE is designed. Then the fault-tolerant strategies of soft redundancy based on LS-SVM prediction model and analytical redundancy of system non-fault encoder output are given from different angles respectively. The soft closed-loop fault-tolerant operation of stage Via encoder is realized when the encoder fails. The simulation results show that the fault tolerance strategy of encoder proposed in this paper can realize the timely and reliable detection of encoder fault in stage Via system and make it run safely and efficiently in closed loop mode of soft and hard fusion smooth transition.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
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