基于内模原理的变结构最优容错控制

针对系统中发生传感器故障和/或执行器故障的情况,兼顾考虑故障对系统内部状态和外部输出的影响,提出了一种物理上可实现的变结构动态最优容错控制方法.该方法首先利用内模原理设计了故障补偿器以补偿故障对系统输出的影响,然后利用Riccati矩阵方程设计了故障情况下的最优容错控制律.为了解决最优容错控制的物理不可实现问题,采用一种新型的降维故障诊断器,在实现故障诊断的同时完成了对系统状态的观测.最后给出了根据故障的发生情况进行变结构调节的动态最优容错控制的设计步骤.仿真结果验证了该方法的有效性和可靠性.

Variable structure optimal fault-tolerant control based on internal model principle

A physically realizable variable structure dynamic optimal fault-tolerant control approach is proposed for systems with actuator and/or sensor faults,which considers the influence of the faults on inner states and outer outputs of systems at the same time.Firstly,a fault compensator is designed to compensate the influence of faults on the outputs of systems by utilizing internal model principle.Then,a dynamic optimal fault-tolerant control law for faulty systems is designed by utilizing Riccati matrix equation.To solve the physically unrealizable problem of the optimal fault-tolerant control,a new reduced-order fault diagnosor is employed which realizes the fault diagnosis and the state observation of systems.Finally,the design steps are given for the dynamic optimal fault-tolerant control which can regulate with the variable structure according to the occurrence of faults.A simulation example shows the effectiveness and reliability of the proposed approach.