Research On Motion Control And Fault Tolerance Of Four-motor Servo System Based On Observe

With the release of the "Made in China 2025" strategy document,the development of intelligent equipment and the industrialization and commercialization of advanced intelligent technology equipment has become the mainstream trend in China’s manufacturing industry.As a core component of power transmission systems,servo systems play an important role in intelligent equipment.The increasingly expanding application areas of servo systems often involve issues of large inertia and high precision servo control,which place higher demands on the performance of servo tracking systems.Because of its benefits in stability,driving torque,and mechanical construction,multi motor servo systems are frequently utilized in the industrial dragging of heavy inertia loads.In multi-motor servo systems,there is a difficulty in synchronizing the speeds of several motors.If managed improperly,it may result in "servo fighting," which compromises the system’s mechanical structure and shortens its mechanical life.Moreover,the multi-motor structure provides hardware redundancy while maintaining a specified load capacity in the case of individual motor breakdowns.More thought may be given to failure identification and assessment,and fault-tolerant control methods can be chosen depending on various fault circumstances.This allows the system to continue operating without stopping,hence preserving system efficiency and dependability.This article studies the high-precision synchronous tracking and fault-tolerant control problems of a four-motor servo system.Based on traditional backstepping methods and combined with command filtering technology,observers,adaptive control methods,and Lyapunov stability theory,a control strategy for multi-motor servo systems is designed to achieve high-precision synchronous control and fault-tolerant control in the event of partial actuator failure.The following is a summary of the article’s major work:Initially,a mathematical model of a four-motor synchronous drive servo system is established,and a controller is designed using command filter backstepping methods.According to the structural characteristics of the four-motor servo system,the four motors are divided into two groups,and a cross-coupling synchronization control strategy is used.In the backstepping method design process,intra-group synchronous feedback signals and inter-group synchronous feedback signals are added to ensure that the motors can run synchronously at the same speed.In addition,to avoid the "computational explosion" phenomenon of traditional backstepping methods,command filtering technology is used to process virtual control signals,and a filter error compensation subsystem is designed to improve tracking accuracy.Finally,the Lyapunov stability theory was used to examine the stability of the closed-loop system,and the simulation findings supported the viability of the control strategy.Secondly,for a four motor drive servo system with nonlinear friction torque,an extended state observer-based command filter backstepping control technique is created.The LuGre friction model,which accurately describes low-speed nonlinear friction dynamics,is used to model the friction torque.Based on the command filtering backstepping method for controller design,the extended state observer is used to estimate state variables and load-side nonlinear friction torque.Based on Lyapunov theory,the stability of a closed-loop system is examined,but also simulation and experimentation are used to confirm the precision of the friction modeling as well as the effectiveness of the system control.Finally,to address the issue of reduced system performance or even instability due to actuator failure in a four-motor synchronous drive servo system,a fault tolerant control approach based on command filtering backstepping approaches is suggested by utilizing the hardware redundancy features of the system when individual actuators fail,an adaptive observer is designed to observe the failure factor.For situations where there are nonmatching uncertainties in the system,fuzzy logic system is used for processing.At the same time,inter-group speed error signals are designed to improve synchronization performance.The simulation findings demonstrate that the established control method may ensure that,in the case of a partial motor failure,the system swiftly returns to stability and achieves comparable control performance to that prior to the fault.