基于高增益鲁棒滑模观测器的故障检测和隔离

针对一类同时具有执行器和传感器故障的不确定线性系统,讨论了基于观测器的故障检测和隔离方法.首先,通过引入增维向量,使得在构造的增维系统中,故障向量包含了原系统的执行器故障和传感器故障.通过构造辅助输出使增维系统的观测器匹配条件得以满足,同时设计高增益滑模观测器对辅助输出进行估计.然后,对增维系统构造鲁棒滑模观测器并用作故障检测观测器,通过滑模控制项来抑制干扰,使观测器具有鲁棒性.在此基础上,结合多观测器故障隔离思想,提出了可以同时对执行器故障和传感器故障进行检测和隔离的方法. 最后,通过对一个五阶飞行器模型进行仿真,证明了所提方法的有效性.

FDI Based on High-gain Robust Sliding Mode Observers

This paper considers the problems of actuator and sensor fault detection and isolation for a class of uncertain linear systems. By introducing an augmented vector, an augmented system which contains a fault vector consisting of both the actuator and sensor faults of original system is constructed. An auxiliary output vector is proposed so that the observer matching condition for the new augmented system is satisfied. A high-order sliding mode observer is considered to obtain the exact estimates of the auxiliary outputs. Then, a robust sliding mode observer is developed as fault detection observer to detect actuator and sensor faults. Furthermore, multi-observers are used for the actuator and sensor fault isolation purpose. Finally, a numerical simulation example is given to show the effectiveness of the proposed methods.