Fault Detection Based on FIR Filters with Variable Discount Factors for Industrial Robot Drive Systems

• 作者: WANG Tao ZHANG Le FANG Guanghui BAI Yawen
• 来源期刊: 武汉大学自然科学学报（英文版）
• 年，卷（期）: 2021,（2）
• 所属期刊栏目: Electronic and Electrical Engineering
• 页码范围: 165-173
• 页数: 9页
• 分类号: TP391
• 语种: 英文
• DOI: 10.19823/j.cnki.1007-1202.2021.0018

摘要

To enhance dynamic tracking performance and anti-disturbance capacity of finite impulse response(FIR)filters,variable discount factors are introduced to the recursive least squares(RLS)algorithm.By employing improved FIR filters to conduct modelling of industrial robot drive systems,dynamic characteristics of the target systems are identified.Then the fault detection for a target system can be utilized by analyzing the coef-ficients of the FIR filter.Finally,an application of the fault detec-tion scheme to a kind of brushless DC motor drive system is de-scribed.Compared with reference methods,the proposed scheme achieves effective fault detection and performs better in dynamic tracking and robustness according to the final simulation results.