舞台威亚系统的协调同步与容错控制方法研究

发布时间：2018-11-13 20:24

【摘要】：随着当今舞台机械系统技术的迅速发展,威亚正逐渐成为舞台表演中不可或缺的组成部分。在舞台威亚演出过程中如若控制不当或发生故障就有可能导致安全事故,因此借助于高精度同步协调容错策略的研究,对于提高舞台威亚控制系统的可靠性和安全性具有重要意义。鉴于此,本文结合现有舞台威亚控制系统结构,根据自抗扰控制(Active Disturbance Rejection Control,ADRC)思想,从建立舞台威亚控制系统的“抗扰范式”入手,在深入分析舞台威亚运动学机理的基础上,分别研究了2D/3D舞台威亚各自的协同同步控制策略;针对编码器故障,设计了基于故障诊断可靠性评价(Fault Diagnosis Reliability Evaluation,FDRE)的软冗余切换机制,并分别以两种软冗余策略实现了3D舞台威亚的软闭环容错控制,具体工作如下:首先,从ADRC的基本结构及控制思想入手,详尽分析了ADRC各组成部分的工作原理及非线性系统“抗扰范式”的建模原理,并在舞台威亚系统体系结构及相关技术的基础上,根据ADRC的“鱼骨+鱼刺”的建模思想,分别建立了2D/3D舞台威亚各自的“抗扰范式”数学模型,为实现舞台威亚单机高精度控制提供了保障,进而为实现舞台威亚的协调同步控制及故障容错控制方法研究奠定了基础。其次,针对机电参数摄动、钢绳弹性延伸及负载变化等对舞台威亚系统造成的影响,提出了基于ADRC及LADRC的2D及3D舞台威亚单机控制策略;然后结合并联硬同步方法及2D、3D舞台威亚运动学原理,分别设计了适宜的软协调同步算法,实现了舞台威亚系统的协调同步运行。仿真表明,所提出的协调同步策略能使舞台威亚具有良好的轨迹拟合效果及协调同步性能,“随乐而舞”的艺术效果得以更好展现,具有较高的工程参考价值。最后,针对3D舞台威亚系统中角位移反馈元件编码器故障,先设计了基于LS-SVM与SPRT结合的故障诊断方法,进而又设计了基于FDRE的软冗余平滑切换机制;然后分别从不同角度给出了基于LS-SVM预测模型软冗余及系统非故障编码器输出解析冗余的容错策略,实现了舞台威亚在编码器发生故障情形下的软闭环容错运行。仿真结果表明,文中所提出的编码器故障容错策略,可实现舞台威亚系统编码器故障的及时可靠检测,并使其以软硬融合平滑过渡的闭环方式安全高性能容错运行。
[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.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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