基于未知输入观测器的车载炮电液位置伺服系统故障检测

针对车载炮电液位置伺服系统在运行时存在大惯量、负载非线性、参数不确定性和干扰等特点，提出一种基于非线性未知输入观测器的故障检测方案。在对系统建模后进行观测器设计，借助李雅普诺夫稳定性理论证明观测器稳定性并给出了存在条件，观测器产生用于故障检测的残差信号。在故障检测台上在线检测观测器的观测能力以及对故障的检测能力，设计了基于统计的动态阈值故障决策机制，消除了固定阈值在过渡阶段系统出现的误报警现象。实验结果表明：所提出的故障检测方案有效，可用于电液位置伺服系统在线故障的检测。

Fault Detection for an Electro-hydraulic Position Servo System of Vehicle-mounted Howitzer Based on Unknown Input Observer

For large inertia, load nonlinearity, parameter uncertainty and disturbance in the electro-hydraulic position servo system of vehicle-mounted howitzer, a fault detection scheme based on nonlinear unknown input observer is proposed. After modeling the system, a nonlinear observer design is utilized to generate the residual signals required for fault detection. The observer's stability is proved and its existing conditions is given by Lyapunov stability theory. The observational ability and fault detection ability of observer are detected online on a fault detection test rig. A dynamic threshold failure decision mechanism based on statistics is designed, which eliminate the false alarm of fixed threshold in transition stage. The experimental examples are investigated to demonstrate the effectiveness of the proposed fault detection scheme, which can be applied for the online fault detection of the electro-hydraulic position servo system.