飞机余度舵机系统鲁棒故障诊断

提出一种利用特征结构配置与状态反馈解耦相结合设计观测器的方法，实现余度伺服系统的鲁棒故障诊断，利用特征结构方法，可以实现残差与结构性干扰解耦;利用对偶原理，进行解耦观测器设计，可使残差不受交联作用影响，利用这两种方法中参数设计的自由度，使其互相逼近，做到在干扰解耦的基础上，故障最大程度地实现通道解耦，该方法不仅适用于突变故障，而且也适用于渐变故障和多故障的诊断。

Robust Fault Diagnosis for Redundant Servo System

Present a scheme of designing observer to achieve robust fault diagnosis of redundant servo system, combining eigenstructure assignment with dual theory and state feedback. By using eigenstructure assignment, the residual is de coupled from structured disturbance; By using dual theory and state feedback, the residual is de coupled from interaction of other channels. On the basis of disturbance de coupling, utilized the design freedom of observer's parameters, the fault is isolated to the greatest extent. Finally, the simulations of two redundant servo systems show the effectiveness of the scheme.