具有异步时延的网络化控制系统故障检测

针对具有异步信号时延的离散系统，研究了在异步时延下基于观测器的故障检测及其设计问题。首先提出了一个存在异步时延下系统的故障检测模型，该模型保持了系统的定常性和时不主特性。同时在此模型上构造了异步时延系统的状态观测器，并依据系统观测误差通过合理地选择湮灭加权矩阵的方法构建了频域内的故障检测残差发生器。最后通过一个摆式列车试验模型的仿真检验了设计方法的有效性。

Fault Detection for Networked Control Systems with Asynchronous Measurement Delays

The design of observer-based robust fault detection for discrete-time MIMO (multiple-input multiple-output) systems with different measurement time delays in different signal channels was concerned with. A time-invariant formulation for system fault detection was proposed under the existence of asynchronous measurement signal delays and a state observer was construced based on the time-invariant system as that in LTI (linear time-invariant) systems. The residual generator was derived from the estimation errors and was implemented in frequency domain by multiplying an annihilation weighting matrix selected appropriately. In the simulations, the test rig dynamics of a tilting train control system are considered under the presented fault detection approach, and the simulation results demonstrate the effectiveness of the design method.