A fault-tolerant control method for the servo systems driven by multi-motor

To improve reliability of the servo systems driven by multi-motor, a fault-tolerant control method that using dualmotor synchronous control drive as the control unit is proposed in this paper. Fault detection circuits are designed and the states of equipment are detected in real time. All the drives communicate with each other through CAN bus and their fault information is shared. When one or two sets of drive equipment fail to work, structure and controller parameters of the system will be automatically adjusted on-line according to the preset fault-tolerant control strategy. In this way, the drawback that once the host computer fails to work, the entire system can not run, of the traditional multi-motor servo systems is overcome. The system can still get a good performance under fault conditions. Effectiveness of this method is proved by experimental results.