Sliding mode based incipient sensor fault-tolerant control for DC servomotor drives
Résumé
A robust observer-controller structure for sensor fault-tolerant control is proposed for DC servomotor drives. Incipient sensor faults are considered and detected using the Higher Order Sliding Mode (HOSM) observer, followed by a tracking controller which maintains the acceptable drive performance. A fractional Integral Terminal Sliding Mode (ITSM) surface with HOSM terms is considered for the speed output tracking control objective. Experimental results on a DC motor-based Industrial Mechatronic Drives Unit (IMDU) with belt-drive inertial load (which exhibits nonlinear friction, torque variations and other disturbances) validate the effectiveness of the proposed approach. © 2017 IEEE.