兰州理工大学学报

兰州理工大学学报 ›› 2025, Vol. 51 ›› Issue (6): 72-81.

• 自动化技术与计算机技术 • 上一篇    下一篇

基于健康感知反馈调节的舞台多轴同步系统自主维护策略

李炜*1,2,3, 丁海峰1, 毛海杰1,2,3   

  1. 1.兰州理工大学 自动化与电气工程学院, 甘肃 兰州 730050;
    2.兰州理工大学 甘肃省工业过程先进控制重点实验室, 甘肃 兰州 730050;
    3.兰州理工大学 电气与控制工程国家级实验教学示范中心, 甘肃 兰州 730050
  • 收稿日期:2023-03-10 发布日期:2025-12-31
  • 通讯作者: 李 炜(1963-),女,陕西西安人,教授,博导.Email:liwei@lut.edu.cn
  • 基金资助:
    国家自然科学基金(62063017)

Research on self-maintenance strategy of stage multi-axis synchronous system based on health perception feedback adjustment

LI Wei1,2,3, DING Hai-feng1, MAO Hai-jie1,2,3   

  1. 1. School of Automation and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China;
    2. Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou University of Technology, Lanzhou 730050, China;
    3. National Demonstration Center for Experimental Electrical and Control Engineering Education, Lanzhou University of Technology, Lanzhou 730050, China
  • Received:2023-03-10 Published:2025-12-31

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摘要： 针对舞台多轴同步系统中执行器隐含退化,导致系统性能下降无法满足控制任务时限要求的问题,提出一种基于系统健康感知反馈调节的自主维护策略.首先,引入MPC外环控制器,新增预测维护(PdM)模块,构建了舞台多轴同步系统PdM框架;接着考虑维护作用及测量噪声等不确定因素对执行器退化过程的影响,借助Kalman滤波、期望最大化(EM)算法,通过实时估计退化状态、自适应更新Wiener退化模型参数,获得了系统剩余使用寿命(RUL)的精准预测;进而将退化状态、RUL、维护目标与预测步程结合,以“化整为零”的方式在MPC中引入滚动变化的局部终端约束,并基于系统健康信息的全息反馈,实现了约束矩阵Q和R参数的自适应调节.最后通过仿真实验验证了该方法可通过实时健康感知与自适应反馈调节的预测维护,使系统保持更为长久的健康工作状态.

关键词: 舞台多轴同步系统, 健康感知, 系统寿命预测, 局部终端约束, 自主维护

Abstract: To solve the problem that the performance of the stage multi-axis synchronous system is degraded due to the hidden degradation of the actuator and the system cannot meet the time limit of the control task, this paper proposes an autonomous maintenance strategy based on the system health perception feedback adjustment. Firstly, implementing a novel PdM module, the PdM framework of the stage multi-axis synchronous system was built. Second, considering the impact of maintenance actions and measurement noise on the actuator degradation process, the Kalman filter and EM algorithm were used to estimate the degradation state in real-time and update the parameters of the Wiener degradation model adaptively, enabling accurate prediction of theRUL of the system. Furthermore, the local terminal constraint of rolling change was incorporated into MPC in the manner of “breaking the whole into parts” through integrating the degradation state, RUL, maintenance target, and prediction step. The constraint matrix Q and R parameters were adaptively adjusted based on holographic feedback of system health information. Finally, it is demonstrated that the suggested technique can maintain the system in a long-term healthy operating condition by real-time health observation and adaptive feedback control of predictive maintenance through the simulation experiment.

Key words: stage multi-axis synchronization system, health perception, system life prediction, local terminal constraint, autonomous maintenanc

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