一种电动舵机的多余度传感器故障诊断方法

In order to solve the singular fault modes of redundant position sensors in electric actuators, a fault diagnosis method based on Hall sensor analytical model is proposed on the basis of traditional redundancy comparison algorithm. Through the complete self-monitoring design of Hall sensor and the analytical model design, non-similar redundancy signals of sensors are formed. At the same time, a hypothesis testing method based on sliding data window is adopted, and by adjusting the width of the sliding window to meet the indicators of false alarm rate and missed alarm rate, a fault diagnosis algorithm for position sensors is formed as a whole. Finally, an algorithm validation was conducted for the 2: 2 singular fault mode of the position sensor. The results showed that the fault diagnosis algorithm based on the Hall sensor model can effectively solve the problems caused by 2: 2 singular faults, greatly improve the availability of sensor signals, and ensure the control accuracy and fault tolerance of the servo closed-loop.