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工程实践中常见的带间隙的三明治系统的准确故障预报具有重要的现实意义,为此,本文构建了一种新的动态鲁棒观测器对其进行故障预报.首先,通过将非光滑项转化为干扰项的方法,将间隙非光滑三明治系统转化为可用动态鲁棒观测器设计方法设计的系统.其次,采用零点配置和最小化基准区间观测器的范数(H_∞,F/H_,F)指标的方法确定动态鲁棒观测器的增益矩阵.最后,通过仿真,分别比较了基于非光滑鲁棒观测器和基于传统观测器的故障预报效果,比较结果表明:鲁棒观测器能够及时地准确预报传统观测器无法预报的故障,且有效减少了故障的漏报和错报现象. 相似文献
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线性离散系统的有限频域集员故障检测观测器设计 总被引:1,自引:0,他引:1
本文针对线性离散系统, 提出了一种新的有限频域执行器故障检测方法.利用中心对称多胞体近似未知扰动边界, 本文提出的中心对称多胞体集员故障检测观测器可实时估计残差范围.通过观测零点是否脱离残差生成的中心对称多胞体的范围, 判断故障是否发生.为了提高对干扰的鲁棒性和对故障的敏感性, 基于P半径准则和广义Kalman-Yakubovich-Popov引理, 本文给出了故障检测观测器的设计条件, 并将其转化为便于求解的矩阵不等式形式.最后, 车辆横向动态系统的仿真结果验证了所提方法的有效性. 相似文献
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多重故障诊断方法研究* 总被引:2,自引:0,他引:2
针对复杂系统故障模式较多时难以满足实时性的要求,对传统降阶观测器的诊断方法进行了改进,提出了基于动态观测器的诊断方法。该方法通过设计一个动态观测器去检测一系列故障,其效果等同于使用了一族观测器。当把耦合故障表示成故障信号的组合时,该方法可推广到耦合故障的诊断中。 相似文献
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基于状态观测器,提出一种模型含有不确定性误差情况下传感器增益漂移和零点漂移故障的诊断与分离方法。首先讨论了状态观测器的残差信号与模型误差与传感器故障间的动态关系;然后采用逆系统求解和优化拟合等手段,提出一种估算传感器增益和零点偏移量的方法。 相似文献
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针对缓变故障初始变化幅值较小导致的基于传统神经网络观测器的故障检测算法检测效率较低的问题,提出一种基于多步神经网络观测器与自适应阈值的扑翼飞行器(FWMAV)缓变故障检测算法。首先,构建一个多步预测的观测器模型,利用多步观测器的延时性能避免观测器被故障数据污染;然后,依据FWMAV的实际飞行实验数据,对多步观测器窗口宽度进行实验和分析;其次,提出一种自适应阈值策略,通过残差卡方检测算法辅助进行观测器残差值的故障检测;最后,采用FWMAV的实际飞行实验数据进行算法的验证和分析。结果表明,与基于传统神经网络观测器的故障检测算法相比,所提算法在缓变故障检测速度方面提升了737.5%,在缓变故障检测准确率方面提升了96.1%。由此可见,所提算法能够有效提高FWMAV缓变故障的检测速度和检测准确率。 相似文献
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基于T-S 模糊模型的一类非线性网络控制系统故障检测 总被引:1,自引:0,他引:1
针对同时存在网络时延和数据包丢失的网络环境,研究了一类非线性网络控制系统的鲁棒故障检测问
题.基于不确定T-S 模糊模型描述的非线性网络控制系统模型,完成了网络环境下鲁棒故障检测观测器的设计,使
得残差信号对故障敏感而对外部扰动具有鲁棒性.构造Lyapunov-Krasovskii 函数,并引入一个积分不等式,给出了
使得观测器误差动态系统渐近稳定的充分条件.采用线性矩阵不等式技术将鲁棒故障检测问题转化为具有线性矩阵
不等式约束的凸优化问题求解.仿真算例验证了上述方法应用于此类系统的故障检测的有效性. 相似文献
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二阶动力学系统高阶PI观测器的参数化设计方法 总被引:1,自引:0,他引:1
本文研究二阶动力学系统的高阶比例积分(PI)观测器设计问题.基于Sylvester矩阵方程的解,提出了该观测器设计的参数化方法.该参数化方法给出了该类观测器增益矩阵的参数化表达式,其所含参数除了满足两个约束条件之外是完全自由的.这些参数为控制系统设计提供了全部自由度,可通过优化等手段选择这些参数来满足某些性能要求,如干扰解耦、故障检测和鲁棒性等.此外,该PI观测器的参数化设计方法直接利用二阶动力学系统的原始参数矩阵,只涉及二阶动力学系统n维参数矩阵的运算.给出一个数值例子,以说明所提方法的简单性和有效性. 相似文献
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Residual generation and evaluation of networked control systems subject to random packet dropout 总被引:2,自引:0,他引:2
Yongqiang Wang Author Vitae Hao Ye Author Vitae Steven X. Ding Author Vitae Author Vitae Donghua Zhou Author Vitae 《Automatica》2009,45(10):2427-2434
In this paper, we address fault detection for networked control systems subject to random packet dropout. The packet dropout is assumed to be existing in the sensor-to-controller link and the controller-to-actuator link. Both parity space and observer based residual generation and evaluation approaches are proposed. In parity space based fault detection scheme, a new optimization index is proposed to deal with stochastic system parameters caused by random packet dropout, while in observer based scheme, this is accomplished by introducing a reference model. In order to evaluate performance of the designated threshold, the corresponding false alarm rate is given. The two fault detection schemes can ensure both robustness to packet dropout as well as disturbance and sensitivity to fault. An experimental study is employed to verify that the proposed method performs better than the existing approaches. 相似文献
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针对一类含有未知扰动广义非线性系统的执行器故障,本文提出一种重构算法。首先设计未知输入观测器对干扰鲁棒,作为故障检测观测器。检测到发生故障后,通过提出含有误差比例项和积分项的故障估计算法,形成自适应观测器,实现准确快速地估计故障,同时估计状态变量。根据李雅普诺夫稳定理论给出估计误差一致最终有界的充分条件。最后仿真验证该类观测器和重构算法的有效性。 相似文献
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This paper deals with the fault detection observer design problem in finite frequency domain for linear time‐invariant continuous‐time systems with bounded disturbances. Two finite frequency performance indexes are introduced to measure the fault sensitivity and the disturbance robustness. Faults are considered in the low frequency domain while disturbances are considered in certain finite frequency domain. With the aid of the Generalized Kalman‐Yakubovich‐Popov lemma, the design methods are presented in terms of solutions to a set of linear matrix inequalities. An example of the VTOL aircraft is studied to illustrate the effectiveness of the proposed method. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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This paper addresses fault detection for wind turbine transmission system (WTTS) subject to actuator stuck faults and wind disturbances. Taking into account the frequency domain characteristics of such faults and disturbances, a modified observer is designed in terms of finite frequency (FF) performance indices that have detection performances superior to some formerly proposed ones. With the generalized Kalman–Yakubovich–Popov (GKYP) lemma and the Lyapunov theory, the FF performance indices are related to linear matrix inequalities (LMIs), and parametrization of the corresponding FF modified observer is completed by convex optimization under LMI constraints. One typical advantage of the modified observer is that fault and disturbance signals in distinctive FF domains can be dealt with simultaneously. This makes the residual system sensitive to actuator stuck faults and robust against external wind disturbances. Simulations are included to show that the design method achieves fault detection performances better than those of the entire frequency observers. 相似文献
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This paper focuses on the fault estimation observer design problem in the finite‐frequency domain for a class of Lipschitz nonlinear multiagent systems subject to system components or actuator fault. First, the relative output estimation error is defined based on the directed communication topology of multiagent systems, and an observer error system is obtained by connecting adaptive fault estimation observer and the state equation of the original system. Then, sufficient conditions for the existence of the fault estimation observer are obtained by using a generalized Kalman‐Yakubovich‐Popov lemma and properties of the matrix trace, which guarantee that the observer error system satisfies robustness performance in the finite‐frequency domain. Meanwhile, the pole assignment method is used to configure the poles of the observer error system in a certain area. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method. 相似文献
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Rachid Errouissi Jun Yang Wen-Hua Chen Ahmed Al-Durra 《International journal of control》2016,89(8):1698-1710
In this paper, a robust nonlinear generalised predictive control (GPC) method is proposed by combining an integral sliding mode approach. The composite controller can guarantee zero steady-state error for a class of uncertain nonlinear systems in the presence of both matched and unmatched disturbances. Indeed, it is well known that the traditional GPC based on Taylor series expansion cannot completely reject unknown disturbance and achieve offset-free tracking performance. To deal with this problem, the existing approaches are enhanced by avoiding the use of the disturbance observer and modifying the gain function of the nonlinear integral sliding surface. This modified strategy appears to be more capable of achieving both the disturbance rejection and the nominal prescribed specifications for matched disturbance. Simulation results demonstrate the effectiveness of the proposed approach. 相似文献