作者：沈晨晖, 汪伟, 张晓良, 赵家丰

作者单位：军械工程学院火炮工程系, 河北 石家庄 050003

关键词：电液伺服系统;平方根容积卡尔曼滤波;状态估计;故障诊断

摘要：

针对电液伺服系统非线性程度高、状态参数较多等特点，该文将平方根容积卡尔曼滤波（SR-CKF）应用于电液伺服系统的状态估计之中。通过分析典型阀控缸电液伺服系统的动态特性，建立该系统非线性状态空间模型，分别模拟加入过程噪声和测量噪声，仿真实验验证平方根容积卡尔曼滤波器在状态估计方面的优良性能。针对电液伺服系统实践中经常出现的故障模式，设置不同程度的液压缸内泄露故障，结合状态空间模型分析容积卡尔曼滤波产生的残差来实现故障诊断，并通过计算机仿真证明该方法的可行性。

State estimation and fault diagnosis of electro-hydraulic servo system based on SR-CKF

SHEN Chenhui, WANG Wei, ZHANG Xiaoliang, ZHAO Jiafeng

Department of Artillery Engineering, Ordnance Engineering College, Shijiazhuang 050003, China

Abstract: In terms of the high nonlinearity degree and the large number of state parameters of electro-hydraulic servo system, the square root cubature Kalman filter(SR-CKF) is used for the state estimation of electro-hydraulic servo system.The nonlinear state space model of the system is established by analyzing the dynamic characteristics of the electro-hydraulic servo system of typical valve-controlled cylinder, which respectively simulates and adds process noise and measurement noise. The excellent performance of SR-CKF in state estimation is verified by simulation test. In view of the frequent failure mode of electro-hydraulic servo system in practice, different levels of hydraulic cylinder internal leakage faults are listed, and residual error caused by CKF is analyzed based on state space model to achieve fault diagnosis. The feasibility of the method is proved by computer simulation.

Keywords: electro-hydraulic servo system;SR-CKF;state estimation;fault diagnosis

2018, 44(1): 101-107,112  收稿日期: 2017-06-15;收到修改稿日期: 2017-08-05

基金项目: 国家自然科学基金项目（51575523）

作者简介: 沈晨晖(1992-),男,浙江湖州市人,硕士研究生,专业方向为测试技术、故障诊断、信号处理、机电液控制等。

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