-
摘要: 针对受未知干扰影响的一类非线性系统，提出一种基于滑模观测器和广义观测器的执行器故障和传感器故障估计方法.首先通过线性变换将原系统解耦为两个降阶的子系统，其中一个子系统受执行器故障和干扰的影响，另一个含有传感器故障和干扰，进一步将后一个子系统转化为广义系统.对两类子系统分别设计滑模观测器和广义观测器，给出估计误差一致最终有界的条件，得到系统状态和未知干扰的估计值.然后，利用等效输出控制原理重构执行器故障，引入干扰补偿保证重构算法的鲁棒性，再根据广义观测器的结果获得传感器故障的估计值.最后，通过计算机仿真验证了本文方法的有效性.Abstract: In this paper, the problem of actuator fault and sensor fault estimation based on sliding mode observers and descriptor observers is addressed for a sort of nonlinear systems subject to unknown disturbances. First, the considered system is transformed into two reduced-order subsystems by linear transformation matrices. One subsystem is subject to actuator fault and the disturbance, and the other is affected by sensor fault and the disturbance, which is then further transformed into a descriptor system. A sliding mode observer and a descriptor observer are designed to process the above two subsystems, respectively. A sufficient condition is presented to ensure that estimation errors are uniformly bounded, and the estimates of system state as well as the unknown disturbance are obtained. Furthermore, by using the equivalent output injection concept, actuator fault reconstruction is achieved, whose robustness is ensured by employing the estimation of disturbance as compensation. The estimate of sensor fault is also obtained according to the output of the descriptor observer. Finally, a numerical example is employed to demonstrate the effectiveness and robustness of the proposed approach.
-
Key words:
- Actuator fault /
- sensor fault /
- descriptor observer /
- sliding mode observer /
- fault estimation
1) 本文责任编委 文成林 -
图 5 干扰$\zeta$ 的真实值与估计值
Fig. 5 The actual state and the estimate of disturbance $\zeta$
-
[1] Tan C P, Edwards C. Sliding mode observers for robust detection and reconstruction of actuator and sensor faults. International Journal of Robust and Nonlinear Control, 2003, 13 (5):443-463 doi: 10.1002/(ISSN)1099-1239 [2] Tan C P, Edwards C. Sliding mode observers for detection and reconstruction of sensor faults. Automatica, 2002, 38 (10):1815-1821 doi: 10.1016/S0005-1098(02)00098-5 [3] Raoufi R, Marquez H J, Zinober A S I. H∞ sliding mode observers for uncertain nonlinear Lipschitz systems with fault estimation synthesis. International Journal of Robust and Nonlinear Control, 2010, 20 (16):1785-1801 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=JJ0220050749 [4] Lan J L, Patton R J. A new strategy for integration of fault estimation within fault-tolerant control. Automatica, 2016, 69:48-59 doi: 10.1016/j.automatica.2016.02.014 [5] Qiu A B, Jiang B, Wen C L, Mao Z L. Fault estimation and accommodation for networked control systems with nonuniform sampling periods. International Journal of Adaptive Control and Signal Processing, 2015, 29 (4):427-442 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=JJ0234806148 [6] Wang H, Daley S. Actuator fault diagnosis:an adaptive observer-based technique. IEEE Transactions on Automatic Control, 1996, 41 (7):1073-1078 doi: 10.1109/9.508919 [7] Jiang B, Chowdhury F N. Fault estimation and accommodation for linear MIMO discrete-time systems. IEEE Transactions on Control Systems Technology, 2005, 13 (3):493-499 doi: 10.1109/TCST.2004.839569 [8] Gao Z W, Ding S X. Actuator fault robust estimation and fault-tolerant control for a class of nonlinear descriptor systems. Automatica, 2007, 43 (5):912-920 doi: 10.1016/j.automatica.2006.11.018 [9] Chen W, Saif M. Observer-based strategies for actuator fault detection, isolation and estimation for certain class of uncertain nonlinear systems. IET Control Theory & Applications, 2007, 1 (6):1672-1680 [10] Alwi H, Edwards C, Marcos A. Fault reconstruction using a LPV sliding mode observer for a class of LPV systems. Journal of the Franklin Institute, 2012, 349 (2):510-530 doi: 10.1016/j.jfranklin.2011.06.026 [11] Chen L J, Patton R, Goupil P. Application of model-based LPV actuator fault estimation for an industrial benchmark. Control Engineering Practice, 2016, 56:60-74 doi: 10.1016/j.conengprac.2016.08.003 [12] Yu J Y, Liu Z Y. Fault reconstruction based on sliding mode observer for linear descriptor systems. In: Proceedings of the 7th Asian Control Conference. Hong Kong, China: IEEE, 2009. 1132-1137 [13] Gao Z, Ding S X. Sensor fault reconstruction and sensor compensation for a class of nonlinear state-space systems via a descriptor system approach. IET Control Theory & Applications, 2007, 1 (3):578-585 [14] Zhang J, Swain A K, Nguang S K. Robust sensor fault estimation scheme for satellite attitude control systems. Journal of the Franklin Institute, 2013, 350 (9):2581-2604 doi: 10.1016/j.jfranklin.2013.06.010 [15] Gao Z W, Liu X X, Chen M Z Q. Unknown input observer-based robust fault estimation for systems corrupted by partially decoupled disturbances. IEEE Transactions on Industrial Electronics, 2016, 63 (4):2537-2547 [16] Raoufi R, Marquezz H J. Simultaneous sensor and actuator fault reconstruction and diagnosis using generalized sliding mode observers. In: Proceedings of the 2010 American Control Conference. Baltimore, MD, USA: IEEE, 2010. 7016-7021 [17] Gao Z W, Wang H. Descriptor observer approaches for multivariable systems with measurement noises and application in fault detection and diagnosis. Systems & Control Letters, 2006, 55 (4):304-313 [18] Yang J Q, Zhu F L, Wang X, Bu X H. Robust sliding-mode observer-based sensor fault estimation, actuator fault detection and isolation for uncertain nonlinear systems. International Journal of Control, Automation and Systems, 2015, 13 (5):1037-1046 doi: 10.1007/s12555-014-0159-4 [19] Zhang C F, Yan M, He J, Luo C. LMI-based sliding mode observers for incipient faults detection in nonlinear system. Journal of Applied Mathematics, 2012, 2012:Article No.528932 http://d.old.wanfangdata.com.cn/OAPaper/oai_doaj-articles_5c5db2a7e7e57bac799d9edca59f752c [20] Corless M, Tu J. State and input estimation for a class of uncertain systems. Automatica, 1998, 34 (6):757-764 doi: 10.1016/S0005-1098(98)00013-2 [21] Zhang K, Jiang B, Cocquempot V. Adaptive observer-based fast fault estimation. International Journal of Control, Automation and Systems, 2008, 6 (3):320-326 http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0210064647/ [22] Hui S, Żak S H. Observer design for systems with unknown inputs. International Journal of Applied Mathematics and Computer Science, 2005, 15 (4):431-446 http://d.old.wanfangdata.com.cn/OAPaper/oai_doaj-articles_6ae89843429b8c2ec88b1dd768cefad4 -
下载:
图(6)
计量
- 文章访问数: 2437
- HTML全文浏览量: 369
- PDF下载量: 921
- 被引次数: 0
