Research On Coordinated Synchronization And Fault Tolerant Control Of Stage Wire System

With the rapid development of today's stage mechanical system technology,wire is becoming an indispensable part of stage performance.In the stage performance,if the control of improper or failure may lead to security incidents,Therefore,the coordinated synchronization of fault-tolerant strategy is achieved by means of high-precision,will be the great significance to improve the reliability and safety of the stage wire control system.In view of this,according to the idea of Active Disturbance Rejection Control(ADRC),this paper combines the existing stage wire control system structure and kinematic mechanism,starts from the "anti-interference paradigm" of the wire control system,respectively to study the 2D/3D stage wire of the respective coordinated synchronization control strategy.A flexible redundant switching mechanism based on Fault Diagnosis Reliability Evaluation(FDRE)is designed for encoder faults,and the soft-closed-loop fault-tolerant control of 3D stage wire is realized by two kinds of soft redundancy strategies.The specific work is as follows:Firstly,starting from the basic structure and control thought of ADRC,the working principle of ADRC components and non-linear system "anti-interference paradigm" are analyzed in detail.Based on the architecture of wire system and related technologies,the "anti-interference paradigm" of 2D/3D stage wire is established according to the modeling idea of ADRC's "fish bone + fishbone".It provides a guarantee for the realization of the stage wire with high precision control,and thus lays the foundation for the study of the coordinated synchronization control and fault-tolerant control method of the stage wire.Secondly,in terms of problems of mechanical and electrical parameters perturbation,rope elastic extension and load changes on the stage wire system,this paper presents the 2D and 3D stage wire single control strategy based on ADRC and LADRC;And then combined with parallel hard synchronization method and 2D/3D stage wire kinematics principle,the appropriate soft-coordinated synchronization algorithm is designed to achieve the stage wire system coordinated synchronous operation.Simulation shows that,the proposed coordinated synchronization strategy can make the stage wire have a good track fit effect and synchronization performance,the "Dance with music" is shown perfectly,and also it has a higher engineering reference value.Finally,aimed at the problem of encoder fault of 3D stage wire system,combined with the LS-SVM prediction model and the sequential probability ratio test(SPRT),a suitable method for encoder fault detection is given in this paper,and then a redundant smoothing mechanism based on FDRE is designed.Then,the fault tolerant strategy based on LS-SVM prediction model and output redundancy of system non fault encoder are presented from the different angles to make the 3D stage wire run with fault-tolerant operation.The simulation results show that,the control strategy can ensure encoder fault detection in a timely and reliable manner.Besides,it also makes the wire run with a safe high performance and fault tolerant operation in a soft and hard fusion smooth transition of the closed-loop way.