考虑执行器故障的鲁棒H∞可靠控制

本文采用比离散模型更一般的连续增益故障模型，提出了线性不确定系统考虑执行器故障鲁棒H∞可靠控制问题，利用LMI分别给出了多故障鲁棒H∞可靠控制器和单故障鲁棒H∞可靠控制器存在的充分条件。在故障情况下，保证闭环系统渐近稳定和可接受的性能指标基础上，优化了无故障正常情况下的指标。在仿真实例中，不仅验证所提出方法的可行性，而且比较了鲁棒H∞正常控制器和鲁棒H∞可靠控制器的控制效果，进一步看出对系统进行最优鲁棒H∞靠控制器设计的必要性。     

考虑执行器故障的鲁棒H可靠控制

本文采用比离散模型更一般的连续增益故障模型，提出了线性不确定系统考虑执行器故障鲁棒H∞可靠控制问题，利用 LMI分别给出了多故障鲁棒 H∞可靠控制器和单故障鲁棒 H∞可靠控制器存在的充分条件。在故障情况下，保证闭环系统渐近稳定和可接受的性能指标基础上，优化了无故障正常情况下的指标。在仿真实例中，不仅验证所提出方法的可行性，而且比较了鲁棒 H∞正常控制器和鲁棒 H∞可靠控制器的控制效果，进一步看出对系统进行最优鲁棒 H∞可靠控制器设计的必要性。     

一种鲁棒故障检测与反馈控制的最优集成设计方法

研究线性不确定系统的反馈控制器与鲁棒故障检测滤波器集成设计问题.基于新提出 的性能指标函数,将鲁棒故障检测滤波器设计问题归结为最优化问题,通过求解Riccati方程可 得到鲁棒故障检测滤波器设计问题的最优解.在共用同一状态观测器的情况下,将反馈控制器 和鲁棒故障检测滤波器的集成设计问题归结为两目标优化问题,解决了同时满足闭环控制系统 设计要求和故障诊断系统鲁棒性能的最优集成设计问题.简例验证了提出算法的有效性.     

最优鲁棒解析余度设计方案研究

利用广义特征结构理论求解最优鲁棒性能指标,来获得奇偶向量.采用了非线性滤 波估计传感器的误差,再补偿奇偶向量,实现了用常值门限进行故障检测;提出了均值检验法 (MVT)分离故障的最优性能指标,由此求解分离故障的检测量,并用于冗余捷联惯导系统的 故障检测与分离.     

考虑执行器故障的鲁棒H∞控制

采用比中断模型更一般的连续增益故障模型,提出线性系统考虑执行器故障的鲁棒H∞可靠控制问题。利用线性矩阵不等式LMI分别给出执行器故障鲁棒H∞控制器存在的充分条件。在保证闭环系统故障发生时的渐近稳定和可接受的性能指标基础上,优化了无故障情况下的性能指标。仿真数例验证了所提出方法的可行性和对系统进行鲁棒H∞控制器设计的必要性。     

最优鲁棒输出反馈控制器参数化设计

本文提出了一种输出反馈控制器设计的参数化方法，同时利用投影定理给出了一个鲁棒性能指标，然后选择所得到的自由参数使上述鲁棒性能指标最小而获得输出反馈的最优鲁棒设计。     

纯电动轿车车窗防夹的H_/H∞鲁棒故障诊断方法研究*

针对纯电动轿车车窗防夹使用安全方面的需求,以解析模型的故障诊断理论为基础,提出了H-/H∞性能指标的最优鲁棒故障诊断车窗防夹控制算法。该算法将车窗防夹事件发生时的电机转矩变化率看做故障,通过构建鲁棒故障诊断观测器产生一个残差信号,当车窗防夹发生时残差会显著偏离零值,从而将纯电动轿车车窗防夹检测问题转换为H-/H∞性能指标的鲁棒故障诊断问题,进而利用线性矩阵不等式LMI的方法来求解。在MATLAB环境下建立了Simulink模型,仿真结果表明了该算法在阈值设计为0.4721的情况下,能够在故障发生后0.15     

最优鲁棒输出反馈控制器参数化设计

本文提出了一种输出反馈控制器设计的参数化方法,同时利用投影定理给出了一个鲁棒性能指标,然后选择所得到的自由参数使上述鲁棒性能指标取最小而获得输出反馈的最优鲁棒设计。     

基于GLBest-PSO算法的CSTR系统鲁棒PID控制

连续搅拌反应釜(CSTR)系统是一类具有多变量、强非线性和多工作点的复杂工业过程,对外界扰动及内部参数变化较为敏感。针对常规PID控制器参数整定困难,难以取得满意效果,本文提出了一种基于改进粒子群优化算法的CSTR系统鲁棒PID控制方法。通过对优化目标的分析,将鲁棒PID控制器的参数整定问题转化成一个求解最大-最小问题,在对粒子群优化算法进行改进的基础上,引入合作进化思想对该最大-最小问题进行求解,获得了基于优化性能指标最优的鲁棒PID控制器参数。针对实例的仿真结果表明,利用此方法整定得到的鲁棒PID控制器具有良好的鲁棒性,性能指标优于其它方法得到的鲁棒PID控制器,当过程对象操作范围发生大的变化时,利用本文方法设计得到的鲁棒PID控制器能获得满意的结果。     

具有最优动态性能的鲁棒镇定控制器设计

针对ＳＩＳＯ线性离散系统,利用线性规划方法设计具有指定最优动态性能的鲁棒稳定控制器。当线性离散模型的零,极点已知时,将最优动态性能指标在指定输入信号下直接转化为线性规划问题。从而解出最优响应输出序列。最优动态性能指标与鲁棒稳定性的统一使该控制器的设计方法具备了工业应用条件。仿真实例验证了结果的正确性。     

Analysis of order of redundancy relation for robust actuator fault detection

This paper presents a new approach, called robust nonlinear analytic redundancy (RNLAR) technique to actuator fault detection for input-affine nonlinear multivariable dynamic systems. Robust fault detection is important because of the universal existence of model uncertainties and process disturbances in most systems. This paper characterizes the order of redundancy relation for nonlinear systems in terms of robustness. A theorem is proposed that state an increase in the order of redundancy relation increases the robustness in the sense of a performance index defined in this paper. Experimental results on a PUMA 560 robotic arm are presented to demonstrate the application of the theorem.     

Robust Analytical Redundancy Relations for Fault Diagnosis In Nonlinear Systems

The problem of robust analytical redundancy relations design for fault diagnosis in nonlinear systems is investigated. An approach is proposed to solve this problem through an extension of the system state‐space by means of constant (or slow varying) unknown parameters, followed by designing analytical redundancy relations that are insensitive both to state variables and unknown parameters. To make the design practicable, some problems related to nonlinear transformation of the extended system model into observable one are considered. The quasi‐linear computational form for robust analytical redundancy relations is described. Fault detectability and distinguishability conditions are formulated, and a recommendation for choosing the size of the moving time window is made. The results are demonstrated through an example involving an SISO nonlinear model of an underwater vehicle.     

A Nonlinear Observer Based Analytical Redundancy for Predictive Fault Tolerant Control of a Steer‐by‐Wire System

In this paper, a nonlinear sliding mode observer, along with a long range linear predictor, is presented for fault tolerant control of a steer by wire system. The long‐range predictor is based on Diophantine identity aimed at improving the fault detection efficiency. The overall predictive fault tolerant control strategy was then implemented and validated on a steer by a wire hardware in loop bench. The experimental results show that the overall robustness of the steer by wire system was not sacrificed through the usage of analytical redundancy for sensors along with the designed fault detection, isolation, and identification algorithm. Moreover, the experimental results indicated that the fault detection speed is improved using the proposed analytical redundancy‐based algorithms for both attenuating and amplifying type faults. The proposed fault detection algorithm was also found to be robust against a wide range of fault types.     

Optimally robust redundancy relations for failure detection in uncertain systems

All failure detection methods are based, either explicitly or implicitly, on the use of redundancy, i.e. on (possibly dynamic) relations among the measured variables. The robustness of the failure detection process consequently depends to a great degree on the reliability of the redundancy relations, which in turn is affected by the inevitable presence of model uncertainties. In this paper the problem of determining redundancy relations that are optimally robust is addressed in a sense that includes several major issues of importance in practical failure detection and that provides a significant amount of intuition concerning the geometry of robust failure detection. A procedure is given involving the construction of a single matrix and its singular value decomposition for the determination of a complete sequence of redundancy relations, ordered in terms of their level of robustness. This procedure also provides the basis for comparing levels of robustness in redundancy provided by different sets of sensors.     

基于键合图模型的新型解析冗余关系故障诊断方法研究

研究了通过诊断键合图模型建立系统解忻冗余关系(ARRs)的故障诊断方法.通过在系统键合图中加入虚拟传感器的方法建立系统的诊断键合图,根据诊断键合图模型的因果关系路径构建系统的解析冗余关系和系统故障特征矩阵,并利用系统实际观测特征与故障特征的比较进行系统的故障检测和隔离,通过在双容水箱系统的仿真验证,证明了该方法便捷性和...     

Optimal design of robust analytical redundancy for a redundant strapdown inertial navigation system

In this paper, a new method of calculating the parity vector is proposed. A performance criterion for robust fault detection is given. By using the theory of generalized eigenstructure, the criterion can be solved to obtain the parity. The new method was used for the failure detection and isolation of a redundant strapdown inertial navigation system. By comparison with the classical Potter method, the new parity is more sensitive to failures, giving rise to the conclusion that the optimal design of robust analytical redundancy is efficient and practical.     

基于演算子的热过程执行机构故障诊断系统设计

This paper proposes an operator based fault detection method for an actuator fault of an aluminum plate thermal process with input constraints. Operator-based robust right coprime factorization (RCF) approach is utilized in this method. After developing a mathematical model of the thermal process, a robust tracking operator system is designed for the process with input constraints. Following this, design of the fault detection system is given by using operator-based robust RCF approach. Finally, experiment is conducted to support the proposed design method.     

A stability guaranteed active fault‐tolerant control system against actuator failures

In this paper, a new strategy for fault‐tolerant control system design has been proposed using multiple controllers. The design of such controllers is shown to be unique in the sense that the resulting control system neither suffers from the problem of conservativeness of conventional passive fault‐tolerant control nor from the risk of instability associated with active fault‐tolerant control in case that an incorrect fault detection and isolation decision is made. In other words, the stability of the closed‐loop system is always ensured regardless of the decision made by the fault detection and isolation scheme. A correct decision will further lead to optimal performance of the closed‐loop system. This paper deals with the conflicting requirements among stability, redundancy, and graceful degradation in performance for fault‐tolerant control systems by using robust control techniques. A detailed design procedure has been presented with consideration of parameter uncertainties. Both total and partial actuator failures have been considered. This new control strategy has been demonstrated by controlling a McDonnell F‐4C airplane in the lateral‐direction through simulation. Copyright © 2004 John Wiley & Sons, Ltd.     

基于混杂系统方法的一类采样数据系统鲁棒故障检测

针对具有连续时间过程噪声和离散时间测量噪声的采样数据系统, 提出了一种新的鲁棒故障检测直接设计方法. 首先利用具有有限跳变的线性系统作为残差产生器, 采样数据系统的鲁棒故障检测设计问题被描述成采样数据滤波问题, 然后给出有限跳变线性系统有界实引理的线性矩阵不等式(LMI)表达形式, 基于此, 推导出采样数据系统鲁棒故障检测滤波器的存在条件及设计参数, 并将所提方法推广到具有结构不确定性的采样数据系统上. 所设计的滤波器能够保证残差与故障之间误差最小, 并对过程噪声、测量噪声、结构不确定性等因素鲁棒. 最后, 通过数值仿真对所提方法的可行性进行了验证.     

Robust fault diagnosis for non-Gaussian stochastic systems based on the rational square-root approximation model

The task of robust fault detection and diagnosis of stochastic distribution control （SDC） systems with uncertainties is to use the measured input and the system output PDFs to still obtain possible faults information of the system. Using the rational square-root B-spline model to represent the dynamics between the output PDF and the input, in this paper, a robust nonlinear adaptive observer-based fault diagnosis algorithm is presented to diagnose the fault in the dynamic part of such systems with model uncertainties. When certain conditions are satisfied, the weight vector of the rational square-root B-spline model proves to be bounded. Conver- gency analysis is performed for the error dynamic system raised from robust fault detection and fault diagnosis phase. Computer simulations are given to demon- strate the effectiveness of the proposed algorithm.