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基于自适应的延时与丢帧补偿,提出了一种分布式容错策略,用以确保基于CAN(controller area network)总线的混合动力挖掘机电动回转系统在通信出错时获得良好的运行性能。通过采用一种分别在中央控制器和电机驱动器上对反馈信号和控制信号进行补偿的全新延时补偿方法,可以在不增加通信带宽的情况下大大降低通信错误的不利影响。采用了带遗忘因子的递推最小二乘法对由姿态变化引起的时变模型参数进行辨识,并通过在连续丢帧情况下的反馈补偿中引入反向修正率来消除模型误差的不利影响。仿真和实验结果表明提出的容错策略可以有效第减小通信错误引起的系统超调和响应时间变化。
Based on the adaptive delay and frame loss compensation, a distributed fault tolerance strategy is proposed to ensure that the hybrid rotary excavator powered rotary system based on CAN (bus area network) bus can obtain good performance when communication error occurs. By using a new delay compensation method that compensates for both the feedback and control signals at the central controller and the motor driver, the adverse effects of communication errors can be greatly reduced without increasing the communication bandwidth. The recursive least square method with forgetting factor was used to identify the parameters of the time-varying model caused by the attitude change. The adverse effect of model error was eliminated by introducing the reverse correction rate in the feedback compensation with continuous frame dropping. Simulation and experimental results show that the proposed fault-tolerant strategy can effectively reduce system overshoot and response time caused by communication errors.