Fault-tolerant control method for electric steering engine
Fault-tolerant control method for electric steering engine
- Neue Suche nach: BAI LONG
- Neue Suche nach: SUN YUANXI
- Neue Suche nach: CHEN XIAOHONG
- Neue Suche nach: LI YUHAO
- Neue Suche nach: BAI LONG
- Neue Suche nach: SUN YUANXI
- Neue Suche nach: CHEN XIAOHONG
- Neue Suche nach: LI YUHAO
The invention discloses a fault-tolerant control method for an electric steering engine, which comprises the following steps of: acquiring rudder feedback in real time, comparing the rudder feedback with theoretically calculated rudder deflection, carrying out online steering engine fault detection, if the steering engine works normally, carrying out rudder instruction decomposition according to a conversion relation distribution law between a three-channel control instruction and a four-piece rudder instruction, and if the steering engine has a fault, carrying out fault diagnosis on the steering engine. If yes, rudder instruction distribution is carried out according to a fault-tolerant control algorithm, disturbance torque caused by fault rudder deflection is compensated, and therefore normal navigation of the underwater vehicle is maintained.
本发明公开了一种电动舵机容错控制方法，该方法实时采集舵反馈，与理论计算的舵偏比较，在线进行舵机故障检测，若舵机工作正常，则按三通道控制指令与4片舵指令的转换关系分配律进行舵指令分解，若舵机出现故障，则按容错控制算法进行舵指令分配，补偿故障舵偏引起的干扰力矩，从而维持潜航器正常航行。
Dokumentinformationen
Fault-tolerant control method for electric steering engine
一种电动舵机容错控制方法
2022-05-27
Patent
Elektronische Ressource
Chinesisch
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