离散重复过程的有限频率范围迭代学习容错控制

针对一类执行器故障不确定离散重复过程, 提出一种有限频率范围的迭代学习容错控制算法. 通过定义故障系数矩阵和输出跟踪系统的等价二维模型, 沿故障系统的时间轴和批次轴设计迭代学习被动容错控制器, 以线性矩阵不等式形式分别给出基于KYP 引理的全频、分频区域重复控制系统稳定的充分必要条件, 同时保证故障系统在时域和频域范围内的容错性能. 最后, 以重复注塑过程的注射速度控制仿真验证了所提出分频控制算法的有效性.

Iterative learning fault-tolerant control in finite frequency range for discrete repetitive process

For a class of uncertain discrete repetitive process with the actuator fault, an iterative learning fault-tolerant control algorithm in the finite frequency range is proposed. By defining the equivalent two dimensional model and fault coefficient matrix for the output tracking system, the passive fault-tolerant controller with the time axis and batch axis is designed at the same time. Then based on the Kalman-Yakubovich-Popov(KYP) lemma, the sufficient and necessary condition for the stability of the repetitive control system is given in terms of the linear matrix inequality technology in the whole frequency and division frequency range respectively, so that the fault tolerant performance of the fault system can be guaranteed both in time and frequency domain. Finally, the injection speed control simulation of the repetitive injection molding process verifies the effectiveness of the frequency division control algorithm.