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

Abstract

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

CLC Number:

TM 921.5

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.

Figures/Tables 23

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Encoder fault tolerance method based on angle residual observer

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