Abstract
For the problem of multiple sensor fault detection and reconstruction in the forklift fault-tolerant control system, a sliding mode observer (SMO) with adaptive regulation law is proposed. Based on the three-degree-of-freedom (3-DOF) model of forklift, a linear state equation with output disturbance is designed as its equivalent sensor fault model. The sensor fault is converted into an actuator fault by defining an auxiliary state variable as an output signal filter. Then the SMO-based method of sensor fault detection and reconstruction is given. Without knowing the upper bound of an unknown fault, an adaptive sliding mode observer (ASMO) can also be effective through the adaptive algorithm. Finally, experimental results further verify the effectiveness of the method, and provide a foundation for forklift fault-tolerant control.
Highlights
With the development of modern forklift technology, handling stability and active safety are becoming increasingly important
For the 3-DOF model of electric forklifts, a linear state equation with output disturbance is constructed as its equivalent sensor fault model
By defining auxiliary state variables disturbance is constructed as its equivalent sensor fault model
Summary
With the development of modern forklift technology, handling stability and active safety are becoming increasingly important. Sci. 2020, 10, 1278 observer is discussed for estimating states and reconstructing actuator and sensor faults simultaneously in the presence of uncertainties, measurement noise, and output disturbances [9,10]. Yosra Rkhissi-Kammoun et al focused on single and multiple current FDI sensors for induction motor drives in an electric vehicle; two models based on diagnostic methods were proposed; the first one was a differential algebraic estimation of fault dynamics and the second one was based on a combination of the Robust Integral Sign of the Error observer [16]. Considering the characteristics of the observer and the fact that weight of the forklift cargo changes with time, an adaptive sliding mode observer (ASMO) based on the forklift sensor fault model with output disturbance is proposed. Forklift model and the sensor fault model; Section 3 proposes the ASMO; in Sections 4 and 5, sensor fault reconstruction and its improvement are presented; in Section 6, validation of the experiment is given; the discussion and the conclusions are given
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