摘要
为了对一类非线性系统执行器时变故障进行有效诊断,研究了一种基于变增益扩张状态观测器的逆系统故障调节方法.首先,通过一种时变增益的设计方法,来改进传统的恒增益扩张状态观测器,有效消除了在状态及故障估计初始阶段的"峰值"问题;其次,在依据故障估计值对原系统进行补偿调节的基础上,借助于逆系统的引入,对原非线性系统线性化,在使系统能对故障容错的同时,确保了系统无论故障发生与否的不变伪线性特性,进而又为其设计了鲁棒保性能控制,从而以不变的控制器使得系统始终具有了良好的性能及对逆建模误差的鲁棒性;最后,仿真算例对比验证了该方法的有效性.
For the purpose of effective diagnosis of a class of nonlinear system with the time-varying failure of the actuator, a method of the fault accommodation was proposed based on time-varying gain extended state observer （ESO） for the inverse system. Firstly, the traditional constant gain ESO was improved by using a time-varying gain design method, which guaranteed that the ＂peaking value＂ problem in the initial phase of the state and fault estimation was effectively eliminated. Secondly, the nonlinear system was linearized to the corresponding linear system based on the compensation and regulation of the fault estimation value for the original system and the introduction of the inverse system. At this time, the system not only possessed fault-tolerant ability, but also possessed the pseudo linear characteristic whether failures occurred or not. And then, the robust guaranteed cost control was designed. The system possessed good performance as well as the robustness to the inverse modeling errors by using the same controller. Finally, a simulation example shows the effectiveness of the proposed approach.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2017年第5期736-744,共9页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(61364011
61463030)
关键词
时变增益扩张状态观测器
逆系统方法
非线性系统
鲁棒保性能控制
time-varying gain extended state observer inverse system method nonlinear system robust guaranteed cost control
