A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

Abstract EN

A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction.

Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller.

A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle.

Thus, active fault-tolerant position control of the system can be realized.

A real-time simulation experiment is performed on a hardware-in-loop simulation platform.

The results show that the system reconfigures well for both incipient and abrupt faults.

Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.