基于未知输入观测器方法的非线性切换系统故障检测

基于非线性未知输入观测器方法对一类离散时间非线性切换系统的故障检测问题进行了研究。给出了两种不同结构的非线性未知输入观测器。针对每一种观测器都考虑了两种切换信号:任意时间切换信号和满足平均驻留时间的切换信号。在任意切换信号下,使用了切换Lyapunov函数的方法来设计非线性未知输入观测器的参数;在满足平均驻留时间切换信号下,使用了多Lyapunov函数方法进行观测器参数的设计。然后利用已知的非线性未知输入观测器,得到残差生成器,进而实现故障检测。通过数值仿真例子,验证了故障检测方法的有效性。     

具有未知输入线性系统观测器的设计与分析

对于一类具有未知输入的线性系统，本文提出了一种新的状态及未知输入观测器的设计方法，并给出了其存在的条件，对于此类观测器的正确性，本文做了严格的理论论证。最后，通过一个线性系统实例，利用本文所提出的观测器的设计方法，对其状态及未知输入观测器进行了设计，仿真结果表明，该观测器直接采用系统的测量输出，实现了对系统状态及未知输入渐近的估计。     

基于非线性自适应观测器的故障诊断

将自适应控制的思想和状态观测器方法相结合研究了一类非线性控制系统的故障诊断问题。针对一类满足Lipschitz条件的带有未知参数的非线性系统,提出了一种非线性自适应状态观测器的设计方法,并将其应用到控制系统的故障诊断中。通过设置未知故障向量的自适应调整律,保证了状态观测器的渐近稳定。数字仿真证明了该方法的有效性,系统渐近稳定,状态向量和故障向量的估计值均趋近于实际值。     

基于LMI的H_/H∞故障检测观测器设计

考虑未知输入信号的影响,研究了线性系统鲁棒故障检测观测器的设计问题。利用描述残差对故障灵敏度的H_指数和表示残差对未知输入鲁棒性的H∞范数,将鲁棒故障检测观测器的设计问题描述为基于H_/H∞的优化设计问题。利用线性矩阵不等式(linear matrix inequality, LMI)理论,给出故障检测观测器的存在条件,提出一种新的迭代LMI算法求解最优观测器增益。仿真结果表明,利用这种方法设计的故障检测观测器对故障的灵敏度高,对未知输入的鲁棒性强。     

线性时滞系统的鲁棒故障诊断

研究了一类含有未知输入干扰和模型不确定性的时滞系统故障诊断问题。通过变换,原系统被分成两个子系统,一个子系统不受故障的影响,可以设计鲁棒观测器;另一个子系统受到故障的影响,但是它的状态可以通过测量得到。设计的观测器利用解析冗余方法能够对执行器故障和传感器故障进行诊断。仿真结果表明,算法具有良好的诊断性能。     

基于参考模型的线性时不变系统的故障诊断

首次将模型参考自适应思想引入控制系统的故障诊断，提出了一种基于参考模型的新型故障诊断方法。该方法首先利用带有未知输入状态观测器观测出系统状态，然后通过观测状态和参考模型的状态构造出残差信号，再利用最小二乘法估计出故障的幅值大小，并给出了估计误差的计算公式。仿真结果表明了该方法的有效性。     

广义双线性系统状态观测器的设计

针对输入受约束的广义双线性系统进行了研究,提出了采用极点配置的方法来设计广义双线性系统状态观测器,得到了广义双线性系统状态观测器存在的充分条件,保证了观测误差Lyapunov意义下渐近稳定。此外,给出了广义双线性系统状态观测器的设计方法的具体步骤,通过一个数值算例说明了设计方法的合理性和有效性。     

部分转移概率未知的Markov跳变系统鲁棒故障检测

针对部分转移概率未知的Markov跳变系统,研究了其鲁棒故障检测问题,设计了该系统的线性全阶鲁棒故障检测观测器。将自由连接权矩阵引入鲁棒故障检测观测器系统进行证明推导,极大地降低了固定连接权矩阵带来的保守性。通过构造Lyapunov函数,推导得出一系列线性矩阵不等式以确保鲁棒故障检测观测器系统随机渐近稳定。在此基础上,证明并给出了观测器存在的充分条件。进一步,优化所设计的观测器。数值仿真表明,所设计的鲁棒故障检测观测器不仅对故障具有较高的灵敏度,而且能确保对未知干扰输入有较强的鲁棒性。     

基于自适应神经网络的非线性系统故障诊断

针对一类模型未知及状态不可测的非线性系统,提出了基于自适应神经网络的故障诊断策略,不仅在线估计神经网络的矩阵权重,而且在线估计高斯函数的宽度和中心。该方法对系统的未知非线性特性没有特别要求,仅对神经网络提出较弱的假设条件。首先利用径向基函数(Radial Basis Function,简称RBF)神经网络构造状态观测器,估计系统的状态。然后利用另一个自适应RBF神经网络作为故障估计器,其输入是系统的估计状态(而不是系统状态),其输出为系统所发生的故障模型。利用Lyapunov稳定理论详细分析了状态误差和故障误差的收敛性,分别给出了两个神经网络的参数调整律,仿真证明了该方法的实用性和有效性。     

基于参考模型的线性时不变系统的故障诊断

首次将模型参考自适应思想引入控制系统的故障诊断 ,提出了一种基于参考模型的新型故障诊断方法。该方法首先利用带有未知输入状态观测器观测出系统状态 ,然后通过观测状态和参考模型的状态构造出残差信号 ,再利用最小二乘法估计出故障的幅值大小 ,并给出了估计误差的计算公式。仿真结果表明了该方法的有效性     

Design and simulation of fault diagnosis based on NUIO/LMI for satellite attitude control systems

This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm arising from the disturbance from orbit control force. The effects of orbit control force on the fault diagnosis system for satellite attitude control systems, including the disturbing torque caused by the misalignments and the model uncertainty caused by the fuel consumed, are discussed, where standard Luenberger observer cannot work well. Then the nonlinear unknown input observer is proposed to decouple faults from disturbance. Besides, a linear matrix inequality approach is adopted to reduce the effect of nonlinear part and model uncertainties on the observer. The numerical and semi-physical simulation demonstrates the effectiveness of the proposed observer for the fault diagnosis system of the satellite during orbit maneuver.     

Fault detection based on H∞ states observer for networked control systems

The influence of random short time-delay to networked control systems (NCS) is changed into an unknown bounded uncertain part. Without changing the structure of the system, an H∞ states observer is designed for NCS with short time-delay. Based on the designed states observer, a robust fault detection approach is proposed for NCS. In addition, an optimization method for the selection of the detection threshold is introduced for better tradeoff between the robustness and the sensitivity. Finally, some simulation results demonstrate that the presented states observer is robust and the fault detection for NCS is effective.     

Fault detection based on H∞ states observer for networked control systems

The influence of random short time-delay to networked control systems (NCS) is changed into an unknown bounded uncertain part. Without changing the structure of the system, an H∞ states observer is designed for NCS with short time-delay. Based on the designed states observer, a robust fault detection approach is proposed for NCS. In addition, an optimization method for the selection of the detection threshold is introduced for better tradeoff between the robustness and the sensitivity. Finally, some simulation results demonstrate that the presented states observer is robust and the fault detection for NCS is effective.     

基于LMI的不确定系统鲁棒故障检测观测器设计

针对系统模型同时具有未知输入扰动和模型不确定性,提出了一种鲁棒故障检测观测器的设计方法。在不考虑系统模型误差的情况下,为降低设计的保守性,利用描述残差对故障灵敏度的H-指数和表示残差对未知输入鲁棒性的H∞范数以及一种新的迭代线性矩阵不等式(linear matrix inequality,LMI)算法解决H∞/H-的优化问题,设计了参考残差模型和自适应门限,并将观测器设计转化为LMI表述的标准H∞模型匹配问题,减小故障检测过程中误报、漏报率。仿真结果表明,设计的故障检测观测器对故障的灵敏度高,对不确定因素的鲁棒性强。     

H∞ fault estimation for a class of linear time-delay systems in finite frequency domain

This paper deals with the problem of H∞ fault estimation for linear time-delay systems in finite frequency domain. First a generalized coordinate change is applied to the original system such that in the new coordinates all the time-delay terms are injected by the system's input and output. Then an observer-based H∞ fault estimator with input and output injections is proposed for fault estimation with known frequency range. With the aid of Generalized Kalman-Yakubovich-Popov lemma, sufficient conditions on the existence of the H∞ fault estimator are derived and a solution to the observer gain matrices is obtained by solving a set of linear matrix inequalities. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.