Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches

doi:10.13190/j.jbupt.2015.03.006

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2015, Vol. 38 ›› Issue (3): 43-49.doi: 10.13190/j.jbupt.2015.03.006

• Papers • Previous Articles Next Articles

Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches

MA Tian-bing, DU Fei, QIAN Xing-guang, ZHANG Jian-jun

College of Mechanical Engineering, Anhui University of Science and Technology, Anhui Huainan 232001, China

Received:2014-10-20 Online:2015-06-28 Published:2015-06-26

Abstract

Abstract:

In order to improve the reliability and stability of vibration control system for flexible manipulator, a fault-tolerant control method including wavelet neural network combined with substituting control technology was proposed to solve the faults problem of piezoelectric sensor in vibration control. Firstly, three kinds of flexible manipulators were designed by pasting different fault piezoelectric patches, then the wavelet packet was used to extract all kinds of fault feature, radial basis function network was used to identify the characteristics. According to the fault type, hardware substituting control or software substituting control based on a new type of nonlinear sliding mode observer was chosen. Finally, fault-tolerant control experimental results showed that the confidence level of sensor fault diagnosis is higher than 0.9 and vibration suppressing effect for first two order modal could reach more than 10 dB through NI CRIO platform.

Key words: piezoelectric sensor fault, flexible manipulator, vibration, substituting control, sliding mode observe

CLC Number:

TP273

MA Tian-bing, DU Fei, QIAN Xing-guang, ZHANG Jian-jun. Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2015, 38(3): 43-49.

References

[1] 李冬伟, 白鸿柏, 何忠波, 等. 压电促动器存在故障时柔性板的μ综合振动主动控制研究[J]. 实验力学, 2010, 25(1): 30-40. Li Dongwei, Bai Hongbai, He Zhongbo, et al. Active vibration control of the flexible plate with variable driving force of piezoelectric actuator via μ-synthesis[J]. Journal of Experimental Mechanic, 2010, 25(1): 30-40.

[2] 马扣根, 朱晓峰, 顾仲权. 结构振动主动控制中传感器故障的在线检测[J]. 振动工程学报, 1999, 12(1): 9-14. Ma Kougen, Zhu Xiaofeng, Gu Zhongquan. On-line detection of sensor fault in active structural vibration control system[J]. Journal of Vibration Engineering, 1999, 12(1): 9-14.

[3] Izumikawa Y, Yubai K, Hirai J. Fault-tolerant control system of flexible arm for sensor fault by using reaction force observer[J]. Mechatronics, 2005, 10(4): 391-396.

[4] 杨立平, 张铭钧, 褚振忠, 等. 水下机器人抗积分饱和控制及主动容错控制方法[J]. 哈尔滨工程大学学报, 2010, 31(6): 755-761. Yang Liping, Zhang Mingjun, Chu Zhenzhong, et al. Anti-windup control and active fault tolerant control methods for autonomous underwater vehicles[J]. Journal of Harbin Engineering University, 2010, 31(6): 755-761.

[5] Manjunath T C, Bandyopadhyay B. Fault-tolerant control of flexible smart structures using robust decentralized periodic output feedback technique[J]. Smart Materials and Structures, 2005, 14(4): 624-636.

[6] Bai Yuanqiang, Grigoriadis K M, Song G. Active fault tolerant control of a flexible beam[J]. Proceeding of SPIE, 2007, 6253: 1-12.

[7] 马天兵, 裘进浩, 季宏丽, 等. 振动控制中的局部应变补偿和改进PPF算法[J]. 华南理工大学学报:自然科学版, 2012, 40(5): 41-46. Ma Tianbing, Qiu Jinhao, Ji Hongli, et al. Local strain compensation and improved PPF algorithm for vibration control[J]. Journal of South China University of Technology: Natural Science Edition, 2012, 40(5): 41-46.

[8] 孙佳, 裘进浩, 费利萍, 等. 基于阻抗技术的压电元件自损伤检测[J]. 振动、测试与诊断, 2011, 8(4): 454-458. Sun Jia, Qiu Jinhao, Fei Liping, et al. Piezoelectric transducer self-diagnosis based on impedance technology[J]. Journal of Vibration, Measurement and Diagnosis, 2011, 8(4): 454-458.

[9] 邱志成. 柔性机械臂的变结构振动控制研究[J]. 动力学与控制学报, 2007, 5(1): 62-67. Qiu Zhichen. Study on variable structure vibration control for flexible manipulator[J]. Journal of Dynamics and Control, 2007, 5(1): 62-67.

[10] 赵金宪, 金鸿章. 基于小波包和神经网络的瓦斯传感器故障诊断[J]. 传感器与微系统, 2010, 29(5): 80-82. Zhao Jinxian, Jin Hongzhang. Gas sensor fault diagnosis based on wavelet packet and neural network[J]. Transducer and Micro System Technologies, 2010, 29(5): 80-82.

[11] 刘金琨. 机器人控制系统的设计与Matlab仿真[M]. 北京: 清华大学出版社, 2012.

[12] 陈伟根, 邓帮飞. 小波包能谱熵与神经网络在断路器故障诊断中的应用[J]. 重庆大学学报, 2008, 31(7): 744-748. Chen Weigen, Deng Bangfei. Applying wavelet packet energy entropy and neural networks to diagnose circuit breaker faults[J]. Journal of Chongqing University, 2008, 31(7): 744-748.

[13] 汪性武. 柔性机械臂的振动控制[D]. 南京: 南京航空航天大学, 2004. Wang Xingwu. Vibration control for flexible manipulator[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2004.

[14] 马天兵, 裘进浩, 季宏丽, 等. 基于粒子群的压电结构多目标同步优化控制[J]. 沈阳工业大学学报, 2012, 34(5): 569-575. Ma Tianbing, Qiu Jinhao, Ji Hongli, et al. Multi-objective simultaneous optimization control for piezoelectric structure based on particle swarm[J]. Journal of Shenyang University of Technology, 2012, 34(5): 569-575.

[15] 方少吉, 王丽荣, 朱计华, 等. 水下机器人传感器容错控制技术的研究[J]. 机器人, 2007, 29(2): 155-159. Fang Shaoji, Wang Lirong, Zhu Jihua, et al. Sensor fault-tolerant control of an autonomous underwater vehicle[J]. Robot, 2007, 29(2): 155-159.

Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches

RichHTML

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 9

Recommended Articles

Metrics

Comments

[1]	LI Zhendong, TAN Zhenting, FANG Ping. Dispersion Relations and Heat Capacity with Long Range Interactions in a Square Lattice [J]. Journal of Beijing University of Posts and Telecommunications, 2022, 45(5): 60-65.
[2]	SANG Ying-jun, FAN Yuan-yuan, WU Shang-guang, LI Man, WANG Ye-qin. Vehicle Sensor Self-Powered Technology Research of Electromagnetic and Piezoelectric Hybrid Mode [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2016, 39(3): 132-135,142.
[3]	LIAO Xi, LIU Nai-jin, QIAN Jin-xi, ZHAO Dan-feng, WANG Yang. Land Mobile Satellite Channel Model for Antenna Pointing Inaccuracy [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2014, 37(2): 99-103.
[4]	JIA Qing-xuan, DENG Xia, CHU Ming, HUANG Fei-jie. The Composite Control of Dynamic Switching Sliding Mode and Optimal of One-Link Flexible Manipulators [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2013, 36(4): 50-54.
[5]	ZHUANG Wei，LIU Xiao-ping. Vibration Environmental Prediction of Flexible Joint Robot in Moving State [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2009, 32(5): 99-103.
[6]	CHU Ming, JIA Qing-xuan, SUN Han-xu, ZHANG Xiao-dong, YAO Fu-sheng. Coupling of the Dynamics and Control of the Space Flexible Manipulative Arm [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(3): 98-102.
[7]	ZHANG Gang-shan, LI Jian-dong, WU Yu-hong. Reduction of Alarm Vibration in SNMP-Based Fault Management [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2004, 27(6): 31-35.
[8]	LIU Xiao-ping, B.Yang, Z.Liu. Vibration Control Via Actively Adding Time Delay [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2000, 23(3): 25-29.
[9]	Liu Xiaoping, Zhang Yanling, Li Qi. Control Algorithm of Active Vibration Control [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 1998, 21(2): 19-27.