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基于动态观测器零极点优化的网络控制系统故障检测
引用本文:代学武,郑志达,高莺,崔东亮,赵宏涛. 基于动态观测器零极点优化的网络控制系统故障检测[J]. 控制与决策, 2021, 36(6): 1351-1360
作者姓名:代学武  郑志达  高莺  崔东亮  赵宏涛
作者单位:东北大学流程工业综合自动化国家重点实验室,沈阳110004;中国铁道科学研究院,北京100081
基金项目:国家自然科学基金项目(61773111,61790574,U1834211);国家铁路智能运输系统工程技术研究中心开放课题(2018YJ187).
摘    要:针对网络化控制系统中在有限频扰动和噪声下的传感器故障检测问题,构建一种新型的观测器结构:动态观测器.利用动态观测器零点可配置这一新特性,提出零点和极点联合优化配置的故障检测方法.所提出的动态观测器是在传统比例积分观测器的基础上扩展而成,更具一般性,具有零点可配置的特点,能够克服传统观测器零点是固定的限制.将动态观测器的...

关 键 词:动态观测器  零极点优化  故障检测  网络控制系统

Pole-zero optimization design of dynamic observer for fault detection of networked control systems
DAI Xue-wu,ZHENG Zhi-d,GAO Ying,CUI Dong-liang,ZHAO Hong-tao. Pole-zero optimization design of dynamic observer for fault detection of networked control systems[J]. Control and Decision, 2021, 36(6): 1351-1360
Authors:DAI Xue-wu  ZHENG Zhi-d  GAO Ying  CUI Dong-liang  ZHAO Hong-tao
Affiliation:State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang110004,China;China Academy of Railway Sciences,Beijing100081,China
Abstract:This paper constructs a new type of observer structure called dynamic observer for the problem of sensor fault detection under finite frequency disturbance and noise in networked control systems. A joint optimization of zero and pole for fault detection is proposed, which features a dynamic observer whose zero can be freely assigned. The dynamic observer is based on the traditional proportional integral observer and can be expanded to more general types. It has the property that its zero can be assigned to anywhere. The dynamic observer overcomes the problem of invariant zero associated with traditional observers. Zero of the dynamic observer is assigned to the characteristic spectrum of the finite frequency disturbance signal and the network transmission delay, so the effect of disturbance on the residual can be better attenuated. A comprehensive performance of the observer for fault detection is proposed. The pole of the dynamic observer is designed by the $H_2/H_infty $ method to optimize the comprehensive performance of the observer. Finally, taking the model of a networked two-wheel self-balancing robot as an example, the fault detection performance of the dynamic observer, the proportional integral observer and the proportional observer are compared. The comparison results show the advantages and effectiveness of the dynamic observer fault detection method.
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