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

doi:10.13700/j.bh.1001-5965.2016.0177

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

1.
北京航空航天大学航空科学与工程学院, 北京 100083
2.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

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
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- 文章访问数: 1034
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- 被引次数: 0
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

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

1.
School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61273083

National Natural Science Foundation of China 61374012

摘要

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。
- 有限频域 /
- 主动容错 /
- 残差反馈 /
- 故障检测 /
- 网络控制系统
Abstract:
The problem of fault detection and fault tolerant control in finite frequency domain for networked control system with random time delay is investigated in this article. Considering the fault in finite frequency domain, the fault detection filter with prescribed performance is proposed. In order to ensure the control performance of the system, an active fault tolerant controller based on residual feedback is proposed to compensate the fault signal. The sufficient conditions of fault detection filter and active fault tolerant controller satisfying given performance in finite frequency domain are derived. The parameters of the fault detection filter and the active fault tolerant controller are solved by linear matrix inequalities. Numerical simulation shows the superiority and effectiveness of fault detection filter and fault tolerant controller.
- finite frequency domain /
- active fault tolerant /
- residual feedback /
- fault detection /
- networked control system

HTML全文

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；τ_k^sc—第k个采样周期传感器到控制器的时延；τ_k^ca—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

下载: 全尺寸图片幻灯片

图 2 残差信号对比

Figure 2. Comparison of residual signals

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图 3 残差评估函数对比

Figure 3. Comparison of residual evaluation functions

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图 4 被控输出对比

Figure 4. Comparison of controlled outputs

下载: 全尺寸图片幻灯片

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
故障频率/(rad·s^-1)	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)	∣Δα_max∣/(°)
故障频率/(rad·s^-1)	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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