{"title":"Safety control of precision motion system with gantry structure based on fault-tolerant gradient descent B-spline wavelet neural network","authors":"Chi Zhang , Jue Wang , Huihui Pan","doi":"10.1016/j.conengprac.2024.105971","DOIUrl":null,"url":null,"abstract":"<div><p>The safety control of precision motion equipment in modern industrial fields is a key focus of industrial research, directly affecting the accuracy and lifespan of motion equipment. This paper presents a fault-tolerant gradient descent B-spline wavelet neural network (FTGDBNN) based controller of precision motion equipment for a dual-drive gantry system (DDGS), ensuring the safety and effectiveness of DDGS precision system control. The proposed controller contains the loss-of-effectiveness fault estimator and the gradient descent B-spline wavelet neural network (GDBNN) based compensator that can observe and compensate for loss-of-effectiveness and additive actuator faults in real time. In addition to the actuator additive faults, GDBNN-based compensators can suppress the impact of nonlinear disturbances such as system parameter uncertainties and fault estimator errors on precision equipment. Moreover, The boundedness of the fault estimator and the stability of the entire closed-loop system are theoretically proven. Finally, the safety and effectiveness of the proposed control strategy are validated through a series of fault experiments on the DDGS platform. The experimental results indicate that FTGDBNN has better safety and control performance compared to other control strategies applied to precision systems, especially in high curvature and extreme motion conditions.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4000,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S096706612400131X","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
The safety control of precision motion equipment in modern industrial fields is a key focus of industrial research, directly affecting the accuracy and lifespan of motion equipment. This paper presents a fault-tolerant gradient descent B-spline wavelet neural network (FTGDBNN) based controller of precision motion equipment for a dual-drive gantry system (DDGS), ensuring the safety and effectiveness of DDGS precision system control. The proposed controller contains the loss-of-effectiveness fault estimator and the gradient descent B-spline wavelet neural network (GDBNN) based compensator that can observe and compensate for loss-of-effectiveness and additive actuator faults in real time. In addition to the actuator additive faults, GDBNN-based compensators can suppress the impact of nonlinear disturbances such as system parameter uncertainties and fault estimator errors on precision equipment. Moreover, The boundedness of the fault estimator and the stability of the entire closed-loop system are theoretically proven. Finally, the safety and effectiveness of the proposed control strategy are validated through a series of fault experiments on the DDGS platform. The experimental results indicate that FTGDBNN has better safety and control performance compared to other control strategies applied to precision systems, especially in high curvature and extreme motion conditions.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.