多轴同步控制系统的寿命预测与延寿方法研究
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兰州理工大学 电气工程与信息工程学院

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TP273

基金项目:

多轴同步控制系统实时健康评估与智能自主维护方法研究,国家自然科学基金项目(面上项目,重点项目,重大项目)


Research on life prediction and extension method of multi axis synchronous control system
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Affiliation:

College of Electrical and Information Engineering,Lanzhou University of Technology

Fund Project:

Research on real-time health assessment and intelligent autonomous maintenance for multi-axis synchronous control systems,The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    随着多轴同步控制系统应用日益广泛,对其安全可靠性的要求也愈加迫切,尤其当元部件不可避免的逐渐退化时,对系统依旧具有持续工作的期许。受此驱使,本文针对一类考虑单轴执行器退化的多轴同步控制系统,将感知与认知相结合,提出了一种基于系统剩余寿命(RUL)预测的动态矩阵(DMC)-PID串级延寿控制方法。首先,在不改变原有多轴同步系统结构的前提下,通过串级方式引入DMC作为延寿控制器,辅以PHM模块作为自主维护分析决策器,构建了具有实时RUL预测与延寿功能的多轴同步系统新架构;其次,建立执行器隐含退化状态与多轴同步系统性能等感知信息之间的联系,得到了多轴同步系统RUL分布的解析解并用于实时预测;接着,将其与同步系统的期望工作时长结合,作为在线自主维护的认知依据,并基于文中给出的一种同时依赖执行器退化状态和延寿期许的自适应参数调节律,用以在线动态调整DMC约束矩阵Q和R的元素值,通过更契合退化过程特征与延寿需求的方式来减缓执行器退化、延长系统使用寿命,进而实现了多轴系统性能与耐用性之间的更优折衷平衡;最后,通过舞台多电机同步控制系统仿真实验验证了所提方法的有效性。

    Abstract:

    With the increasing application of multi axis synchronous control system, the requirements of safety and reliability are becoming more and more urgent.Even when the original components are gradually degraded, many systems still have the expectation of continuous working hours.Thus, a dynamic matrix (DMC)-PID cascade life extension control method based on system residual life (RUL) prediction is proposed in this paper. Firstly, without changing the structure of the original multi axis synchronization system, a new architecture with real-time life prediction and life extension function is constructed by introducing DMC as the life extension controller and PHM module as the independent maintenance analysis decision-maker; Secondly, by establishing the relationship between the perceptual information such as the implicit degradation state of the actuator and the performance of the multi axis synchronization system, the analytical solution of the RUL distribution of the multi axis synchronization system is obtained and used for real-time prediction; Then, it is combined with the expected working time of the synchronization system as the cognitive basis of on-line autonomous maintenance, and based on an adaptive parameter adjustment law which depends on both actuator degradation state and life extension period, then used to dynamically adjust the element values of DMC constraint matrices Q and R on-line.The degradation of the actuator is slowed down and the service life of system is prolonged by better matching the characteristics of the degradation process and the demand for life extension, so as to achieve a better compromise balance between the performance and durability of the multi axis system; Finally, the effectiveness of the proposed method is verified by the simulation experiment of stage multi motor synchronous control system.

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  • 收稿日期:2021-11-10
  • 最后修改日期:2022-04-23
  • 录用日期:2022-04-27
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