JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (5): 64-70.doi: 10.6040/j.issn.1672-3961.0.2017.167

Previous Articles     Next Articles

Sensor fault tolerant switch strategy for multi-motor synchronous system based on ADRC

MAO Haijie1,2, LI Wei1,2*, WANG Kehong1, FENG Xiaolin1,2   

  1. 1. College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, Gansu, China;
    2. Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou 730050, Gansu, China
  • Received:2017-01-22 Online:2017-10-20 Published:2017-01-22

Abstract: Focusing on multi-motor synchronous control system which was susceptible to variable load and random disturbance, an active disturbances rejection control(ADRC)technique was used to improve the synchronous performance. Based on the principle of sensorless vector control, an extended state observer(ESO)was used in the current loop to obtain the estimated speed with observation of its extended state. The residual signal between actual speed and estimation speed was analyzed to realize fault diagnosis. In order to ensure the safe operation of the fault system, a flexible adaptive switching strategy based on fault diagnosing evaluation of reliability was proposed to ensure smooth transition in case of requiring. Simulation results showed the effectiveness of the proposed method.

Key words: fault tolerant control, sensor fault diagnosis, ADRC, multi-motor synchronous control

CLC Number: 

  • TP277
[1] 姜晓平,朱奕,伞冶.大功率随动试验台多永磁同步电机同步控制[J].电机与控制学报,2014,18(4):88-95. JIANG Xiaoping, ZHU Yi, SAN Ye. Synchronization control of multiple permanent magnet synchronous motors in high-power servo test stands[J].Electric Machines and Control, 2014, 18(4):88-95.
[2] 刘晓峰,刘昕晖,王龙山,等.基于模糊PID 控制的大型履带起重机双马达速度同步控制[J].吉林大学学报(工学版),2011,41(3):659-664. LIU Xiaofeng, LIU Xinhui, WANG Longshan, et al. Speed synchronization control of dual-motor in large crawler crane based on fuzzy PID control[J]. Journal of Jilin University(Engineering and Technology Edition), 2011, 41(3):659-664.
[3] 李炜,公茂利,毛海杰,等.升降舞台系统中多电机同步控制方法研究[J].兰州理工大学学报,2014,40(2):81-85. LI Wei, GONG Maoli, MAO Haijie, et al.Synchronous control of multiple electromotors in lifting stage systems[J].Journal of Lanzhou University of Technology, 2014, 40(2):81-85.
[4] 王鹏飞.电动汽车用五相永磁容错电机的设计及运行控制研究[D].哈尔滨:哈尔滨工业大学,2015. WANG Pengfei. Research on design and operation control of five-phase fault-tolerant permanent magnet machine used for electric vehicles[D]. Harbin:Harbin Institute of Technology, 2015.
[5] 丁信忠,张承瑞,李虎修,等.永磁同步电机的转动惯量辨识及状态估计[J].山东大学学报(工学版),2012,42(2):70-76. DING Xinzhong, ZHANG Chengrui, LI Huxiu, et al. Identification of inertia and state estimation for PMSM[J].Journal of Shandong University(Engineering Science), 2012, 42(2):70-76.
[6] PATTON R J, KAMBHAMPATI C, CASAVOLA A, et al. Fault-tolerance as a key requirement for the control of modern systems[J].The International Federation of Automatic Control, 2006, 6(1):26-36.
[7] SIDATH Diao, DEMBA Diallo, ZAATAR Makni. A differential algebraic estimator for sensorless permanent-magnet synchronous machine drive[J]. IEEE Transactions on Energy Conversion, 2015, 30(1):82-89.
[8] WANG Gaolin, YANG Rongfeng, XU Dianguo. DSP-based control of sensorless IPMSM drives for wide-speed-range operation[J].IEEE Transactions on Industrial Electronics,2013, 60(2): 720-727.
[9] TOMOYA Y, KOUSUKE U, HISAO K. Position sensorless control for IPMSM based on extended EMF and voltage injection synchronized with pulse-width modulation carrier[J].Electrical Engineering in Japan, 2017, 199(1): 28-39.
[10] VLADAN P V, MARTIN P C. Simple sensorless control for high-Speed operation of switched reluctance generator[J]. IEEE Transactions on Energy Conversion, 2016, 31(4):1325-1335.
[11] XU Longya, INOA Ernesto, LIU Yu, et al. A new high-frequency injection method for sensorless control of doubly-fed induction machines[J].IEEE Transactions on Industry Applications, 2012, 48(5): 1556-1564.
[12] ESKOLA M, TUUSA H. Comparison of MRAS and novel simple method for position estimation in PMSM drives[C] //Power Electronics Specialist Conference, 2003: 2003 IEEE 34th Annual. Acapulco, Mexico: IEEE, 2003: 550-555.
[13] WANG Junping, GUO Jingang, DING Lei. An adaptive Kalman filtering based state of charge combined estimator for electric vehicle battery pack[J].Energy Conversion and Management, 2009,50(12): 3182-3186.
[14] TABBACHE B, BENBOUZID M E, KHELOUI A, et al. Virtual-sensor-based maximum-likelihood voting approach for fault-tolerant control of electric vehicle power trains[J].IEEE Transactions on Vehicular Technology, 2013, 62(3):1075-1083.
[15] 韩京清.自抗扰控制技术—估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[16] 韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23. HAN Jingqing. Auto-disturbance rejection control and its applications[J].Control and Decision, 1998, 13(1):19-23.
[17] TOMIZUKA M, HU J, CHIU, KAMANO T. Synchronization of two motion control axes under adaptive feed-forward control[J]. ASME Journal of Dynamic Systems, 1992, 114: 3234-3245.
[18] PEREZ P F, CALADERON G, ALVAREZ R, et al. Comparison of multi-motor synchronization techniques[C] //Proceedings of the 30th Annual Conference of the IEEE Industrial Electronics Society. Busan, Korea:IEEE, 2004:1670-1675.
[19] PEREZ P F, CALADERON G, ARAUJO I. Relative coupling strategy[J]. IEEE International Electric Machines & Drives Conference, 2003, 2(6):1162-1166.
[20] 闻新,张洪铖,周露.控制系统的故障诊断与容错控制[M].北京:机械工业出版社,1998:37-69.
[1] CHENG Xin, LIU Han, WANG Bo, LIANG Dian, CHEN Qiang. A fault-tolerant control architecture for active magnetic bearing based on dual core processor [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 72-80.
[2] HUANG Chengkai, YANG Hao, JIANG Bin, CHENG Shuyao. Fault tolerant cooperative control for a class of complex networks [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(5): 203-209.
[3] SUN Yuancheng, YAO Lina. Fault diagnosis and fault tolerant control for non-Gaussian uncertain singular stochastic distribution control systems [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(5): 238-245.
[4] LIU Zhuo, WANG Tianzhen, TANG Tianhao, FENG Yefan, YAO Junqi, GAO Diju. A fault diagnosis and fault-tolerant control strategy for multilevel inverter [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(5): 229-237.
[5] WANG Changshun, XIAO Hairong. Path following controller for unmanned surface vessels based on ADRC [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(4): 54-59.
[6] LIU Wen-jiang1,2, SUI Qing-mei1, ZHOU Feng-yu1. Straight-line tracking control of ships based on ADRC [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(6): 48-53.
[7] RUAN Jiu-Hong, LI Yi-Bin, YANG Fu-An, RONG Hua-Wen. On manned AWID-AWIS vehicle dynamics control [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(1): 10-14.
[8] YANG Fu-An, LI Yi-Bin, RUAN Jiu-Hong, RONG Hua-Wen, SONG Dui. Control and simulation of position servo systemwith low speed based on ADRC [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(6): 48-52.
[9] ZHOU Fengyu, SHAN Jinming, WANG Wei, CHEN Jingshuai, RAN Jiuhong. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 57-62.
Full text



No Suggested Reading articles found!