Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors

Da-hui GAO; Qing-feng WANG; Yong LEI

doi:10.1631/FITEE.1601021

Your Location：

Home >

Browse articles >

Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors

Regular Papers | Updated：2022-05-19

- Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors
- 混合动力挖掘机电动回转系统通信错误状态下的分布式容错策略
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 7, Pages: 941-954(2017)
- Affiliations：
  
  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
  Beijing Electro-Mechanical Engineering Institute, Beijing 100074, China
- Author bio：
  
  Yong LEI, E-mail: ylei@zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1601021
  CLC： TP336
- Received：25 February 2016，
  
  Revised：2017-;7-14，
  
  Published：2017-07
- Accepted：
Scan QR Code
Da-hui GAO, Qing-feng WANG, Yong LEI. Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 941-954.
DOI：

Da-hui GAO, Qing-feng WANG, Yong LEI. Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 941-954. DOI： 10.1631/FITEE.1601021.

摘要

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。

Abstract

A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme

where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver

respectively

without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation

and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation.

关键词

Keywords

references

M. Beza , , , M. Bongiorno . . Application of recursive least squares algorithm with variable forgetting factor for frequency component estimation in a generic input signal . . IEEE Trans. Ind. Appl. , , 2014 . . 50 ( ( 2 ): ): 1168 - - 1176 . . DOI: 10.1109/TIA.2013.2279195 http://doi.org/10.1109/TIA.2013.2279195 . .

Z. Du , , , D. Yue , , , S. Hu . . H-infinity stabilization for singular networked cascade control systems with state delay and disturbance . . IEEE Trans. Ind. Inform. , , 2014 . . 10 ( ( 2 ): ): 882 - - 894 . . DOI: 10.1109/TII.2013.2294114 http://doi.org/10.1109/TII.2013.2294114 . .

D. Gao , , , Q. Wang . . Health monitoring of controller area network in hybrid excavator based on the message response time . . IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics , , 2014 . . p.1634 - - 1639 . . DOI: 10.1109/AIM.2014.6878318 http://doi.org/10.1109/AIM.2014.6878318 . .

D. Gao , , , Q. Wang , , , Y. Lei , , , 等 . . Online real-time estimation of response time for periodic messages in controller area networks . . Math. Prob. Eng. , , 2015 . . 2015 1 - - 13 . . DOI: 10.1155/2015/659623 http://doi.org/10.1155/2015/659623 . .

R.A. Gupta , , , M.Y. Chow . . Networked control system: overview and research trends . . IEEE Trans. Ind. Electron. , , 2010 . . 57 ( ( 7 ): ): 2527 - - 2535 . . DOI: 10.1109/TIE.2009.2035462 http://doi.org/10.1109/TIE.2009.2035462 . .

ISO . . Road Vehicles—Controller Area Network (CAN)—Part 1: Data Link Layer and Physical Signalling, ISO 11898-1:2015 . . International Organization for Stan-dardization, Geneva. , , 2015 . . .

K. Jin , , , T. Park , , , H. Lee . . A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach . . Proc. Inst. Mech. Eng. C , , 2012 . . 226 ( ( 5 ): ): 1237 - - 1253 . . DOI: 10.1177/0954406211421260 http://doi.org/10.1177/0954406211421260 . .

M. Kagoshima , , , M. Komiyama , , , T. Nanjo , , , 等 . . Development of new hybrid excavator . . Kobelco Technol. Rev. , , 2007 . . 27 39 - - 42 . . . .

T. Katrasnik . . Hybridization of powertrain and downsizing of IC ICE—a way to reduce fuel consumption and pollutant emissions—Part 1 . . Energy Conv. Manag. , , 2007 . . 48 ( ( 5 ): ): 1411 - - 1423 . . DOI: 10.1016/j.enconman.2006.12.004 http://doi.org/10.1016/j.enconman.2006.12.004 . .

H. Kim , , , J. Choi , , , K. Yi . . Development of supervisory control strategy for optimized fuel consumption of the compound hybrid excavator . . Proc. Inst. Mech. Eng. D , , 2012 . . 226 ( ( 12 ): ): 1652 - - 1666 . . DOI: 10.1177/0954407012447019 http://doi.org/10.1177/0954407012447019 . .

J.Y. Kim . . Anti-Rebounding Control Apparatus and Method in an Electrical Swing System of a Hybrid Excavator . . E.P. Patent 2 690 224 A1. , , 2014 . . .

A. Kruszewski , , , W.J. Jiang , , , E. Fridman , , , 等 . . A switched system approach to exponential stabilization through communication network . . IEEE Trans. Contr. Syst. Technol. , , 2012 . . 20 ( ( 4 ): ): 887 - - 900 . . DOI: 10.1109/TCST.2011.2159793 http://doi.org/10.1109/TCST.2011.2159793 . .

T. Kwon , , , S. Lee , , , S. Sul , , , 等 . . Power control algorithm for hybrid excavator with super capacitor . . IEEE Trans. Ind. Appl. , , 2010 . . 46 ( ( 4 ): ): 1447 - - 1455 . . DOI: 10.1109/08IAS.2008.193 http://doi.org/10.1109/08IAS.2008.193 . .

Y. Lei , , , Y. Yuan , , , J. Zhao . . Model-based detection and monitoring of the intermittent connections for CAN networks . . IEEE Trans. Ind. Electron. , , 2014 . . 61 ( ( 6 ): ): 2912 - - 2921 . . DOI: 10.1109/TIE.2013.2272277 http://doi.org/10.1109/TIE.2013.2272277 . .

T. Lin , , , Q. Wang , , , B. Hu , , , 等 . . Development of hybrid powered hydraulic construction machinery . . Autom. Constr. , , 2010a . . 19 ( ( 1 ): ): 11 - - 19 . . DOI: 10.1016/j.autcon.2009.09.005 http://doi.org/10.1016/j.autcon.2009.09.005 . .

T. Lin , , , Q. Wang , , , B. Hu , , , 等 . . Research on the energy regeneration systems for hybrid hydraulic excavators . . Autom. Constr. , , 2010b . . 19 ( ( 8 ): ): 1016 - - 1026 . . DOI: 10.1016/j.autcon.2010.08.002 http://doi.org/10.1016/j.autcon.2010.08.002 . .

G.P. Liu , , , Y. Xia , , , J. Chen , , , 等 . . Networked predictive control of systems with random network delays in both forward and feedback channels . . IEEE Trans. Ind. Electron. , , 2007 . . 54 ( ( 3 ): ): 1282 - - 1297 . . DOI: 10.1109/TIE.2007.893073 http://doi.org/10.1109/TIE.2007.893073 . .

R. Luck , , , A. Ray . . An observer-based compensator for distributed delays . . Automatica , , 1990 . . 26 ( ( 5 ): ): 903 - - 908 . . DOI: 10.1016/0005-1098(90)90007-5 http://doi.org/10.1016/0005-1098(90)90007-5 . .

R. Luck , , , A. Ray . . Experimental verification of a delay compensation algorithm for integrated communication and control systems . . Int. J. Contr. , , 1994 . . 59 ( ( 6 ): ): 1357 - - 1372 . . DOI: 10.1080/00207179408923135 http://doi.org/10.1080/00207179408923135 . .

J. Nilsson . . Real-Time Control Systems with Delays . . PhD Thesis, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden. , , 1998 . . .

B. Rahmani , , , A.H.D. Markazi . . Variable selective control method for networked control systems . . IEEE Trans. Contr. Syst. Technol. , , 2013 . . 21 ( ( 3 ): ): 975 - - 982 . . DOI: 10.1109/TCST.2012.2194739 http://doi.org/10.1109/TCST.2012.2194739 . .

Y. Shi , , , B. Yu . . Robust mixed H 2 /H ∞ control of networked control systems with random time delays in both forward and backward communication links . . Automatica , , 2011 . . 47 ( ( 4 ): ): 754 - - 760 . . DOI: 10.1016/j.automatica.2011.01.022 http://doi.org/10.1016/j.automatica.2011.01.022 . .

Y. Shi , , , J. Huang , , , B. Yu . . Robust tracking control of networked control systems application to a networked DC motor . . IEEE Trans. Ind. Electron. , , 2013 . . 60 ( ( 12 ): ): 5864 - - 5874 . . DOI: 10.1109/TIE.2012.2233692 http://doi.org/10.1109/TIE.2012.2233692 . .

Z. Shuai , , , H. Zhang , , , J. Wang , , , 等 . . Combined AFS and DYC control of four-wheel-independent-drive electric vehicles over CAN network with time-varying delays . . IEEE Trans. Veh. Technol. , , 2014 . . 63 ( ( 2 ): ): 591 - - 602 . . DOI: 10.1109/TVT.2013.2279843 http://doi.org/10.1109/TVT.2013.2279843 . .

H. Song , , , G.P. Liu , , , L. Yu . . Networked predictive control of uncertain systems with multiple feedback channels . . IEEE Trans. Ind. Electron. , , 2013 . . 60 ( ( 11 ): ): 5228 - - 5238 . . DOI: 10.1109/TIE.2012.2225398 http://doi.org/10.1109/TIE.2012.2225398 . .

Y.C. Tian , , , D. Levy . . Compensation for control packet dropout in networked control systems . . Inf. Sci. , , 2008 . . 178 ( ( 5 ): ): 1263 - - 1278 . . DOI: 10.1016/j.ins.2007.10.012 http://doi.org/10.1016/j.ins.2007.10.012 . .

Y. Tipsuwan , , , M.Y. Chow . . Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation—part Ⅰ: networked control . . IEEE Trans. Ind. Electron. , , 2004 . . 51 ( ( 6 ): ): 1218 - - 1227 . . DOI: 10.1109/TIE.2004.837866 http://doi.org/10.1109/TIE.2004.837866 . .

D. Wang , , , C. Guan , , , S. Pan , , , 等 . . Performance analysis of hydraulic excavator powertrain hybridization . . Autom. Constr. , , 2009 . . 18 ( ( 3 ): ): 249 - - 257 . . DOI: 10.1016/j.autcon.2008.10.001 http://doi.org/10.1016/j.autcon.2008.10.001 . .

Q. Wang , , , Y. Zhang , , , Q. Xiao . . Evaluation for energy saving effect and simulation research on energy saving of hydraulic system in hybrid construction machinery . . Chin. J. Mech. Eng. , , 2005 . . 41 ( ( 12 ): ): 35 - - 140 . . DOI: 10.3901/JME.2005.12.135 http://doi.org/10.3901/JME.2005.12.135 . .

T. Wang , , , Q. Wang . . An energy-saving pressure-compensated hydraulic system with electrical approach . . IEEE/ASME Trans. Mechatron. , , 2014 . . 19 ( ( 2 ): ): 570 - - 578 . . DOI: 10.1109/TMECH.2013.2250296 http://doi.org/10.1109/TMECH.2013.2250296 . .

Y. Wang , , , X. Sun , , , Z. Wang , , , 等 . . Construction of Lyapunov–Krasovskii functionals for switched nonlinear systems with input delay . . Automatica , , 2014 . . 50 ( ( 4 ): ): 1249 - - 1253 . . DOI: 10.1016/j.automatica.2014.02.029 http://doi.org/10.1016/j.automatica.2014.02.029 . .

Q. Xiao , , , Q. Wang , , , Y. Zhang . . Control strategies of power system in hybrid hydraulic excavator . . Autom. Constr. , , 2008 . . 17 ( ( 4 ): ): 361 - - 367 . . DOI: 10.1016/j.autcon.2007.05.014 http://doi.org/10.1016/j.autcon.2007.05.014 . .

R. Yang , , , G.P. Liu , , , P. Shi , , , 等 . . Predictive output feedback control for networked control systems . . IEEE Trans. Ind. Electron. , , 2014 . . 61 ( ( 1 ): ): 512 - - 520 . . DOI: 10.1109/TIE.2013.2248339 http://doi.org/10.1109/TIE.2013.2248339 . .

H. Yao , , , Q. Wang . . The control strategy of improving the stability of powertrain for compound hybrid power excavator . . Proc. Inst. Mech. Eng. D J. Autom. Eng. , , 2015 . . 229 ( ( 5 ): ): 1 - - 15 . . DOI: 10.1177/0954407015574809 http://doi.org/10.1177/0954407015574809 . .

L. Zhang , , , H. Gao , , , O. Kaynak . . Network-induced constraints in networked control systems—a survey . . IEEE Trans. Ind. Inf. , , 2013 . . 9 ( ( 1 ): ): 403 - - 416 . . DOI: 10.1109/TII.2012.2219540 http://doi.org/10.1109/TII.2012.2219540 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰