执行器失效的跟踪控制律重构:故障掩蔽法

为避免直接重构系统状态过于苛刻的条件,提出了线性系统存在执行器故障时动态镇定和定点跟踪控制器重构设计方案.基于重构模块思想和故障掩蔽方法,导出了扩展虚拟执行器以获得静态和动态重构模块的统一描述,其中重构模块与标称控制器一起构成可重构控制器.从而实现了执行器故障情况下线性时不变系统的闭环稳定和跟踪性能恢复的重构目标.仿真表明:即使执行器故障重构闭环系统亦能镇定,并可达到稳态值恢复的跟踪重构目标.

Control Law Reconfiguration of Actuator Failures for Tracking:Fault-Masking Approach

In order to avoid the rigorous conditions of reconfiguring system states directly, controller reconfiguration design schemes of dynamic stabilization and set-point tracking were put forward when linear time invariant systems had actuator faults. Based on the reconfiguration module (RM) notion and fault-masking approach, the extended virtual actuator was derived, attaining a unified representation of static and dynamic reconfigured modules. The RM and nominal controller together formed the reconfigurable controller. The reconfiguration goals including closed-loop stability and tracking performance were both achieved. Simulation results showed that closed-loop stability can be insured in the presence of actuator faults and tracking reconfiguration goal is also restored.