煤炭码头自动化运输系统容错控制方法

顾伟; 褚建新

煤炭码头自动化运输系统容错控制方法

顾伟,
褚建新

上海海事大学航运技术与控制工程交通行业重点实验室, 上海 200135

基金项目:

上海市重点学科建设项目 T0603

详细信息

作者简介:
顾伟(1957-), 男, 上海人, 上海海事大学教授, 从事港航电气传动及其自动化研究

中图分类号: U493
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- 被引次数: 0
出版历程
- 收稿日期: 2007-06-30
- 刊出日期: 2008-02-25

Fault-tolerant control method of automatic transportation system for coal wharf

Key Laboratory of Marine Technology and Control Engineering of Ministry of Communications, Shanghai Maritime University, Shanghai 200135, China

More Information

Author Bio:
Gu Wei(1957-), male, professor, +86-21-58855200-4549, weigu@adm.shmtu.edu.cn

摘要

摘要: 为了解决煤炭码头自动化运输系统对控制的可靠性和安全性要求, 提出了一种容错控制方法。运用径向基函数神经网络构造故障诊断器, 通过容错故障范例检索, 建立了从故障诊断到控制律重构之间的映射关系, 实施运输系统的控制律实时重构。应用结果表明: 所提出的容错控制方法明显提高了煤炭码头自动化运输系统的技术性能和安全可靠性, 系统的各类故障的识别率大于97%, 各类故障的误诊率小于1%, 系统的有效度由原来的90%提高到98%以上。
- 煤炭码头 /
- 运输系统 /
- 容错控制 /
- 故障诊断
Abstract: For the improvement of reliability and safety for coal wharf's automatic transportation system, a fault-tolerant control method was put forward. Fault detection and diagnosis(FDD) was constructed by using radial basis function network(RBFN), the mapping relationship between FDD and control rule reconstruction(CRR) was built by searching fault-tolerant cases, and CRR was realized. Applying result shows that the proposed method obviously improves the safety and reliability of the system, its fault discrimination ratio is more than 97%, fault misdiagnosis ratio is less then 1%, and the validity of the system rises from 90% to 98%.
- coal wharf /
- transportation system /
- fault-tolerant control /
- fault diagnosis

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图 1 单泊位煤炭码头自动化运输系统

Figure 1. Automatic transportation system of coal wharf with single berth

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图 2 自动化运输系统基本结构

Figure 2. Basic structure of automatic transportation system

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图 3 故障诊断与容错控制模块

Figure 3. Fault diagnosis module and fault-tolerant control module

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图 4 FDD模型

Figure 4. FDD model

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表 1 可容错故障范例样本

Table 1. Samples of fault-tolerant cases

序号	故障样本C(t)						f_i	U(t): 容错控制律
序号	c₁(t)	c₂(t)	c₃(t)	c₄(t)	c₅(t)	c₆(t)	f_i	U(t): 容错控制律
1	1.000	1.000	1.000	1.000	1.000	1.000	1	u₁(t): 无故障, 传动控制系统正常运行
2	0.000	1.000	1.000	1.000	1.000	1.000	1	u₂(t): 除铁器电磁铁失效, 临时切除, 维持运行
3	1.000	0.000	1.000	1.000	1.000	1.000	1	u₃(t): 大块分离器电机报警, 屏蔽, 维持流程运行
4	1.000	1.000	0.000	1.000	1.000	1.000	1	u₄(t): 输送带轻度跑偏, 报警, 维持流程运行
5	1.000	1.000	1.000	1.100	1.000	1.000	1	u₅(t): 流程过载, 取料机电机减速, 降低运行指标
6	1.000	1.000	1.000	1.000	1.100	1.000	1	u₆(t): 输送机电机过载, 减速, 降低运行指标
7	1.000	1.000	1.000	1.000	1.000	0.750	1	u₇(t): 喷水电机出力下降, 改定点喷淋为循环喷淋
8	1.000	1.000	1.000	1.100	1.100	1.000	1	u₈(t): 流程及输送机电机严重过载, 停车报警

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表 2 连接权值

Table 2. Connecting weights

w_ij		j
w_ij		1	2	3	4	5	6	7	8
i	1	0.915	1.000	1.000	1.000	-1.069	0.931	-1.041	0.918
	2	1.000	0.915	1.000	1.000	-1.069	0.931	-1.041	0.918
	3	1.000	1.000	0.915	1.000	-1.069	0.931	-1.041	0.918
	4	1.000	1.000	1.000	0.915	-1.069	0.931	-1.041	0.918
	5	1.000	1.000	1.000	1.000	0.415	0.423	-1.045	0.932
	6	1.000	1.000	1.000	1.000	0.423	0.415	-1.045	0.932
	7	1.000	1.000	1.000	1.000	1.025	-0.973	0.529	0.502
	8	1.000	1.000	1.000	1.000	1.073	-0.927	0.543	0.579

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参考文献(9)

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