基于角度残差观测器的编码器故障容错方法

doi:10.12305/j.issn.1001-506X.2025.11.25

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (11): 3779-3791.doi: 10.12305/j.issn.1001-506X.2025.11.25

• 制导、导航与控制 • 上一篇

基于角度残差观测器的编码器故障容错方法

李佳霖¹, 陈振¹, 户恒在¹^,*, 周锦华², 陈婕², 刘向东¹

1. 北京理工大学自动化学院，北京 100080
2. 北京精密机电控制设备研究所，北京 100163

收稿日期:2024-11-21 出版日期:2025-11-25 发布日期:2025-12-08
通讯作者: 户恒在
作者简介:李佳霖（1990—），男，博士研究生，主要研究方向为高精密伺服电机控制
陈　振（1976—），男，教授，博士研究生导师，博士，主要研究方向为高精密伺服系统、飞行器控制
周锦华（1983—），男，工程师，硕士，主要研究方向为永磁同步电机伺服控制
陈　婕（1989—），女，工程师，硕士，主要研究方向为永磁同步电机控制、电子产品工艺
刘向东（1971—），男，教授，博士研究生导师，博士，主要研究方向为高精密伺服系统、飞行器控制
基金资助:
国家重点研发计划(2023YFB2406400)资助课题

Encoder fault tolerance method based on angle residual observer

Jialin LI¹, Zhen CHEN¹, Hengzai HU¹^,*, Jinhua ZHOU², Jie CHEN², Xiangdong LIU¹

1. School of Automation，Beijing Institute of Technology，Beijing 100080，China
2. Beijing Research Institute of Precise Mechatronic Controls，Beijing 100163，China

Received:2024-11-21 Online:2025-11-25 Published:2025-12-08
Contact: Hengzai HU

摘要/Abstract

摘要：

在高精度位置伺服系统中，绝对式光电编码器码盘受损会导致角度bit位故障，影响系统性能并产生电流畸变。针对传统纠正策略中角度微分包含转速产生的正常变化量而导致故障纠正有效性下降的问题，本文提出一种基于角度残差观测器的编码器故障容错方法。首先分析3种典型bit位故障模式下角度值变化，得出纠正值表达式；其次设计角度残差观测器，降低估计误差的正常变化量；最后利用残差补偿微分值，设计故障纠正方法。仿真与样机实验显示，该方法在不同转速下有效纠正了编码器bit位故障，抑制电机电流畸变。实验结果表明该方法增强了故障容错的适应性，便于在线实时运行。

关键词: 位置伺服系统, 编码器故障, 故障纠正, 角度残差观测器

Abstract:

In high-precision position servo systems, damage to the absolute photoelectric encoder disk can cause faults in the angle bit signals, adversely affecting system performance and leading to current distortion. To address the issue in traditional correction strategies where angle differentiation includes normal variations caused by rotational speed—thereby reducing the effectiveness of fault correction—an encoder fault-tolerant method based on an angle residual observer is proposed in this paper. Firstly, the angular variations under three typical bit fault modes are analyzed, and correction value expressions are derived. Secondly, an angle residual observer is designed to reduce the normal variation component in estimation errors. Finally, by compensating the differential value using the residual, a fault correction method is developed. Simulation and prototype experimental results demonstrate that the proposed method effectively corrects encoder bit faults under various rotational speeds and suppresses motor current distortion. The proposed approach enhances the adaptability of fault tolerance and is conducive to online real-time implementation.

Key words: position servo system, encoder fault, fault correction, angle residual observer

中图分类号:

TM 921.5

李佳霖, 陈振, 户恒在, 周锦华, 陈婕, 刘向东. 基于角度残差观测器的编码器故障容错方法[J]. 系统工程与电子技术, 2025, 47(11): 3779-3791.

Jialin LI, Zhen CHEN, Hengzai HU, Jinhua ZHOU, Jie CHEN, Xiangdong LIU. Encoder fault tolerance method based on angle residual observer[J]. Systems Engineering and Electronics, 2025, 47(11): 3779-3791.

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基于角度残差观测器的编码器故障容错方法

Encoder fault tolerance method based on angle residual observer

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