基于广义PI观测器零点配置的抗扰残差评估和故障检测

针对一类存在周期性扰动的系统, 提出一种新型的基于广义比例积分(Proportional-integral, PI)观测器零点配置的抗扰残差评估框架. 充分利用广义PI观测器的零点可配置性, 通过调整传递函数矩阵在阻塞零点处的相位响应, 并利用该频点处矩阵的零特征向量对残差信号进行滤波, 实现残差信号与周期性扰动的解耦. 此外, 还创新性地提出一种基于矩阵条件数的优化目标函数, 改善了残差信号对故障的敏感性. 最后, 通过两轮自平衡小车的仿真对比实验和实物测试, 验证了所提方法在残差抑扰和故障检测方面的有效性.

A Generalized Proportional-integral Observer With Zero Assignment for Disturbance Rejection Residual Evaluation and Fault Detection

For a class of systems subject to periodic disturbances, a disturbance rejection residual evaluation architecture based on the generalized proportional-integral (PI) observer with zero assignment is proposed for fault detection. It can make full use of the zero configurability of the generalized PI observer and achieve decoupling of the residual signal from the periodic disturbances by adjusting the phase response of the transfer function matrix at the blocking zero and using the zero eigenvector of the transfer function matrix at the disturbance frequency to filter the residual signal. In addition, this paper also proposes a fault-sensitive optimization objective function based on the condition number. Finally, the effectiveness of the proposed method in terms of the disturbance rejection and fault detection is verified through simulated comparative experiments and physical tests on a two-wheeled self-balancing trolley.