3PTT-2R series-parallel numerical control machine tool servo system fault prediction device and method based on residual observer

3PTT-2R series-parallel numerical control machine tool servo system fault prediction device and method based on residual observer

  • CN 105,652,795 B
  • Filed: 01/22/2016
  • Issued: 08/17/2021
  • Est. Priority Date: 01/22/2016
  • Status: Active Grant
First Claim
Patent Images

1. A3 PTT-2R series-parallel numerical control machine tool servo system fault prediction device based on a residual observer is characterized in that the device for predicting the fault of the 3PTT-2R series-parallel numerical control machine tool servo system comprises a 3PTT-2R series-parallel numerical control machine tool dynamic model module (1), a residual observer module (2), an improved strong tracking filter module (3) and a fault prediction module (4);

  • the 3PTT-2R series-parallel numerical control machine tool dynamic model module (1) constructs a series-parallel numerical control machine tool dynamic model according to a rotating speed state signal output by a controller, and performs working output on speed and displacement signals according to the dynamic model, the residual observer module (2) simultaneously receives an actual rotating speed state signal output by the series-parallel machine tool dynamic model and a rotating speed state signal output by the controller, the residual observer module (2) outputs a residual error of a series-parallel machine tool rotating speed state variable to the improved strong tracking filtering module (3), the residual error signal after filtering processing by the improved strong tracking filtering module (3) is output to the fault prediction module (4), and the residual error is processed by the fault prediction module (4) and then outputs a fault result;

    the 3PTT-2R series-parallel numerical control machine tool kinetic model constructed by the 3PTT-2R series-parallel numerical control machine tool kinetic model module (1) is as follows;

    x(k+1)=

    A(k,x(k))·

    x(k)+Bu(k)wherein the state vector x (k), the input vector u (k), the output vector y (k), and the coefficient matrix are;

    x(k)=

    [Id(k) Iq(k) ω

    (k) θ

    (k) TL(k) υ

    (k)]T

    u(k)=

    [Ud(k) Uq(k)],

    y(k)=

    [Id(k) Iq(k)],

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×