Research on sensor fault tolerant control for bridge crane system
In this paper,an adaptive faulttolerant control algorithm based on observer is designed for the fault of trolley position sensor in underdrive bridge crane system.Considering the trolley position sensor occurs an unknown fault,in order to achieve the fixed point control goal under the stability of the system,an observer based on K filter is proposed to eliminate the influence of unknown sensor faults,and Nussbaum gain is introduced to reduce the influence of unknown symbols of faults.The adaptive faulttolerant controller is composed of the above two parts so that the bridge crane can achieve the control target even under sensor faults.At the same time,based on Lyapunov stability theory,the stability of underdrive bridge crane system is proved by backstepping method.Finally,the feasibility of the control scheme is verified by using MATLAB.
万方数据
维普
