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网络控制系统有限频域故障检测和容错控制

程昊宇 董朝阳 马奥家 王青

程昊宇, 董朝阳, 马奥家, 等 . 网络控制系统有限频域故障检测和容错控制[J]. 北京航空航天大学学报, 2017, 43(3): 524-532. doi: 10.13700/j.bh.1001-5965.2016.0177
引用本文: 程昊宇, 董朝阳, 马奥家, 等 . 网络控制系统有限频域故障检测和容错控制[J]. 北京航空航天大学学报, 2017, 43(3): 524-532. doi: 10.13700/j.bh.1001-5965.2016.0177
CHENG Haoyu, DONG Chaoyang, MA Aojia, et al. Fault detection and fault tolerant control in finite frequency domain for networked control system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(3): 524-532. doi: 10.13700/j.bh.1001-5965.2016.0177(in Chinese)
Citation: CHENG Haoyu, DONG Chaoyang, MA Aojia, et al. Fault detection and fault tolerant control in finite frequency domain for networked control system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(3): 524-532. doi: 10.13700/j.bh.1001-5965.2016.0177(in Chinese)

网络控制系统有限频域故障检测和容错控制

doi: 10.13700/j.bh.1001-5965.2016.0177
基金项目: 

国家自然科学基金 61273083

国家自然科学基金 61374012

详细信息
    作者简介:

    程昊宇,男,博士研究生。主要研究方向:故障检测,容错控制,鲁棒控制,飞行器设计

    董朝阳,男,博士,教授,博士生导师。主要研究方向:飞行器建模与设计,故障检测,滑模控制,自适应控制

    王青,女,博士,教授,博士生导师。主要研究方向:导航制导与控制,故障检测,容错控制,网络控制系统的分析与设计

    通讯作者:

    董朝阳, E-mail:dongchaoyang@buaa.edu.cn

  • 中图分类号: TP273

Fault detection and fault tolerant control in finite frequency domain for networked control system

Funds: 

National Natural Science Foundation of China 61273083

National Natural Science Foundation of China 61374012

  • 摘要:

    考虑网络控制系统中存在的时延,研究了其在有限频域内的故障检测以及容错控制问题。针对有限频域内的故障信号,利用给定指标设计故障检测滤波器产生残差信号。为了保证系统在故障情况下的控制性能,进一步构造基于残差反馈的主动容错控制器对故障进行补偿。给出了故障检测滤波器与主动容错控制器存在并满足有限频域内性能指标的充分条件。利用线性矩阵不等式得到了故障检测滤波器和主动容错控制器参数。数值仿真表明所提方法能够获得良好的故障检测性能和容错控制效果。

     

  • 图 1  存在时延的网络控制系统结构图

    A/D—连续/离散转换器; D/A—离散/连续转化器; f (t),d (t)-L2范数有界的故障信号和外界干扰信号;—第k个采样周期的状态x (k) 的估计;y (k)—第k个采样周期的系统输出;u (k)—第k个采样周期的输入;r (k)—残差信号;τksc—第k个采样周期传感器到控制器的时延;τkca—第k个采样周期控制器到执行机构的时延。

    Figure 1.  Structure diagram of networked control system with time delay

    图 2  残差信号对比

    Figure 2.  Comparison of residual signals

    图 3  残差评估函数对比

    Figure 3.  Comparison of residual evaluation functions

    图 4  被控输出对比

    Figure 4.  Comparison of controlled outputs

    表  1  不同频率故障检测时长

    Table  1.   Duration of fault detection under different frequency

    故障频率/(rad·s-1) 检测时长/s
    本文方法 全频域方法
    0.1 0.178 0.241
    1.0 0.143 0.238
    4.0 0.126 0.235
    10.0 0.175 0.232
    下载: 导出CSV

    表  2  不同频率下控制输出结果

    Table  2.   Control output results under different frequency

    故障频率/(rad·s-1) ∣Δαmax∣/(°)
    本文方法 全频域方法
    0.1 2.6 3.5
    1.0 2.0 3.4
    4.0 1.8 3.4
    10.0 2.5 3.3
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-03-07
  • 录用日期:  2016-06-02
  • 网络出版日期:  2017-03-20

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