事件觸發(fā)機(jī)制下線性NCS主—被動混合容錯控制研究
發(fā)布時間：2018-08-06 22:06
【摘要】：網(wǎng)絡(luò)化控制系統(tǒng)(Network Control System,NCS)是一種通過有限的數(shù)字通信網(wǎng)絡(luò)在傳感器、執(zhí)行器和控制器之間進(jìn)行信息傳輸?shù)目臻g分布式系統(tǒng)。在許多實際的NCS中,由于種種原因系統(tǒng)模型總是存在著不確定性,而信息在網(wǎng)絡(luò)中傳輸又不可避免地出現(xiàn)時延、丟包等問題,作為控制系統(tǒng)的組成部件,執(zhí)行器或傳感器也隨時可能發(fā)生各種故障,導(dǎo)致控制系統(tǒng)的性能下降甚至不穩(wěn)定,因此將容錯控制技術(shù)引入到NCS的安全性和可靠性的研究中日益受到人們的廣泛關(guān)注。容錯控制主要分為被動容錯控制(PFTC)和主動容錯控制(AFTC),PFTC是利用魯棒控制技術(shù)使系統(tǒng)對集內(nèi)故障不敏感,但是由于系統(tǒng)正常和故障時控制器是同一個控制增益,保守性較大。AFTC方法是針對在線估計故障結(jié)果重組或重構(gòu)新的控制器,由于在線估計故障和控制器的重組或重構(gòu)需要時間,因此AFTC實時性較差。離散事件觸發(fā)機(jī)制是給定事件觸發(fā)條件,通過判斷該條件成立與否決定信息是否傳輸,而網(wǎng)絡(luò)誘導(dǎo)時延產(chǎn)生的根本原因是有限的網(wǎng)絡(luò)帶寬,引入離散事件觸發(fā)機(jī)制可以明顯降低通訊負(fù)載維持系統(tǒng)穩(wěn)定。目前針對事件觸發(fā)機(jī)制下的NCS容錯控制的研究主要集中在PFTC以及濾波器的設(shè)計。由此為了有效的節(jié)約網(wǎng)絡(luò)資源并結(jié)合主動和被動的優(yōu)缺點設(shè)計基于事件觸發(fā)機(jī)制的混合控制器就可能成為人們研究的主要方向。鑒于此,本文針對具有時變時延的線性不確定NCS,基于事件觸發(fā)機(jī)制,研究了執(zhí)行器任意失效故障情形下的主被動混合魯棒容錯控制問題�？傮w概略如下:1)基于事件觸發(fā)機(jī)制研究標(biāo)稱線性NCS的主被動混合容錯控制問題針對具有時變時延的標(biāo)稱線性NCS,首先分別基于獨立事件發(fā)生器和帶有事件發(fā)生器的智能傳感器(集成事件發(fā)生器),建立故障系統(tǒng)模型,設(shè)計使系統(tǒng)在發(fā)生故障集以內(nèi)故障時穩(wěn)定的被動容錯控制器。同時設(shè)計故障診斷觀測器估計任意執(zhí)行器失效故障的大小,一旦獲得準(zhǔn)確的故障信息立即重構(gòu)控制器以補(bǔ)償故障的影響,最后通過仿真對比獨立事件發(fā)生器和集成事件發(fā)生器下數(shù)據(jù)傳送量,為后續(xù)在離散事件觸發(fā)機(jī)制下的主被動混合魯棒容錯控制研究奠定了基礎(chǔ)。2)基于事件觸發(fā)機(jī)制研究線性不確定NCS的主被動混合魯棒容錯控制問題針對具有時變時延的線性不確定NCS,建立基于離散事件觸發(fā)通訊機(jī)制的NCS故障模型,并基于H_∞控制思想,設(shè)計了魯棒故障檢測觀測器;離線設(shè)計被動魯棒容錯控制器確保系統(tǒng)在已知故障發(fā)生時穩(wěn)定,未知故障發(fā)生初期減緩系統(tǒng)性能下降速度;同時利用魯棒故障檢測觀測器實時在線檢測故障,并重構(gòu)控制器補(bǔ)償任意未知故障對系統(tǒng)的影響。3)基于事件觸發(fā)機(jī)制研究線性不確定NCS主被動切換魯棒H_∞容錯控制問題針對具有時變時延的線性不確定NCS,在受到外部有限能量擾動的影響下,基于離散事件觸發(fā)通訊機(jī)制,分別設(shè)計正�？刂破骱捅粍郁敯鬑_∞容錯控制器,使系統(tǒng)正常運(yùn)行時能具備良好的動態(tài)性能,當(dāng)系統(tǒng)發(fā)生故障時,通過瞬態(tài)切換函數(shù)平滑切換至被動魯棒H_∞容錯控制器,確保系統(tǒng)在已知故障發(fā)生時不僅穩(wěn)定而且具有一定的H_∞擾動抑制性能,未知故障發(fā)生初期減緩系統(tǒng)性能下降速度;同時設(shè)計魯棒H_∞故障檢測觀測器,實時檢測故障,利用自適應(yīng)補(bǔ)償控制消除未知故障對系統(tǒng)的影響。4)在以上研究的基礎(chǔ)上,采用仿真實例對所有系統(tǒng)的被動容錯控制器、主動容錯控制器、混合容錯控制器和切換函數(shù)設(shè)計的結(jié)果分別進(jìn)行了仿真研究以及系統(tǒng)性能的影響分析,其結(jié)果表明文中所得結(jié)論是正確有效的。對于上述研究結(jié)論,仿真結(jié)果表明,在傳感器端引入事件發(fā)生器,在節(jié)約網(wǎng)絡(luò)資源的情況下,實現(xiàn)了具有時變時延線性不確定NCS的故障估計與主被動混合魯棒容錯控制集成設(shè)計的研究。所提出的基于觀測器的故障診斷方法可以有效的診斷任意故障,在系統(tǒng)運(yùn)行中所發(fā)生的不同情形,采用狀態(tài)反饋控制策略,設(shè)計的主被動混合魯棒容錯控制器,使得系統(tǒng)無論是在正常運(yùn)行狀態(tài)還是發(fā)生執(zhí)行器任意故障不但漸近穩(wěn)定都具有良好動態(tài)性能。
[Abstract]:Network Control System (NCS) is a spatial distributed system that transmissions information between sensors, actuators and controllers through a limited digital communication network. In many practical NCS, there are always uncertainties in the system model for various reasons, and the transmission of information is unavoidable in the network. As a component of the control system, as a component of the control system, the actuator or sensor may also have various faults at any time, causing the performance of the control system to decline or even unstable. Therefore, the fault tolerant control technology is widely concerned in the research of the security and reliability of NCS. Fault tolerant control is the main problem. It is divided into passive fault-tolerant control (PFTC) and active fault-tolerant control (AFTC). PFTC is the use of robust control technology to make the system insensitive to intra set faults, but because the controller is the same control gain when the system is normal and fault, the conservativeness.AFTC method is to restructure or reconstruct a new controller for the online estimation of the fault results. The reconfiguration or reconfiguration of the fault and controller takes time, so the real-time performance of AFTC is poor. The trigger mechanism of the discrete event is the trigger condition of a given event. By judging whether the condition is established or not, the transmission of information is determined, and the root cause of the generation of network induced delay is the limited network bandwidth, and the trigger mechanism of the discrete event can be obvious. To reduce the communication load to maintain the stability of the system, the research on NCS fault tolerant control under the event triggering mechanism is mainly focused on the design of PFTC and filter. In order to effectively save network resources and combine the advantages and disadvantages of active and passive, the design of hybrid controller based on event triggering mechanism may become the main research owner. In view of this, this paper aims at linear uncertain NCS with time-varying delay. Based on event triggering mechanism, this paper studies the passive hybrid robust fault-tolerant control problem in the case of arbitrary failure of the actuator. The overall outline is as follows: 1) the problem of the active and passive hybrid fault-tolerant control based on the event triggering mechanism to study the nominal linear NCS The nominal linear NCS of time-varying delay is based on the independent event generator and the intelligent sensor with event generator (integrated event generator). The fault system model is established and the passive fault-tolerant controller is designed to stabilize the system when the fault is within the fault set. The fault diagnosis observer is used to estimate the loss of the arbitrary actuator. The size of the effective fault, once the accurate fault information is obtained, the controller is reconstructed immediately to compensate for the effect of the fault. Finally, the data transmission is compared between the independent event generator and the integrated event generator by simulation, and the base.2 based on the event is laid for the subsequent study of the passive hybrid robust fault-tolerant control under the discrete event trigger mechanism. The main passive hybrid robust fault-tolerant control problem of linear uncertain NCS is studied by trigger mechanism. A NCS fault model based on discrete event triggered communication mechanism is established for linear uncertain NCS with time-varying delay. A robust fault detection observer based on H_ infinity control is designed, and a passive robust fault-tolerant controller is designed off-line to ensure the system. The system is stable when a known fault occurs, and the performance degradation speed of the system is slowed down at the beginning of the unknown fault, and the robust fault detection observer is used to detect the fault on line on line, and the effect of the controller to compensate for the effect of any unknown fault on the system is reconstructed.3) based on the event triggering mechanism, the robust H_ infinity control of the linear uncertain NCS primary and passive switching is studied. The system is a linear uncertain NCS with time-varying delay. Under the influence of the external finite energy disturbance, based on the discrete event triggered communication mechanism, the normal controller and the passive robust H_ infinity fault-tolerant controller are designed respectively, so that the system can have good dynamic performance when the system runs normally. When the system fails, the transient switching is passed. The function smooth switching to passive robust H_ infinity fault-tolerant controller ensures that the system is not only stable but also has a certain H_ infinity disturbance rejection performance when the known fault occurs, and the performance degradation speed of the system is slowed down at the beginning of the unknown fault, and the robust H_ infinity detection observer is designed, the fault is detected in real time, and the adaptive compensation control is used to eliminate the fault. The influence of the unknown fault on the system.4) on the basis of the above research, the simulation example is used to simulate the results of the passive fault-tolerant controller, the active fault-tolerant controller, the hybrid fault-tolerant controller and the switching function design, and the analysis of the influence of the system performance. The results show that the conclusions obtained in this paper are correct. For the above research conclusions, the simulation results show that the event generator is introduced at the sensor end and the design of fault estimation with time-varying delay linear uncertainty NCS and the integrated robust fault-tolerant control integration design with the primary and passive hybrid are realized. The proposed fault diagnosis method based on the observer can be proposed. It is effective to diagnose any fault. In different cases, the state feedback control strategy is adopted to design the passive hybrid robust fault-tolerant controller, which makes the system not only asymptotically stable but also asymptotically stable in both normal running state and actuator fault.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP273
本文編號：2169134
[Abstract]:Network Control System (NCS) is a spatial distributed system that transmissions information between sensors, actuators and controllers through a limited digital communication network. In many practical NCS, there are always uncertainties in the system model for various reasons, and the transmission of information is unavoidable in the network. As a component of the control system, as a component of the control system, the actuator or sensor may also have various faults at any time, causing the performance of the control system to decline or even unstable. Therefore, the fault tolerant control technology is widely concerned in the research of the security and reliability of NCS. Fault tolerant control is the main problem. It is divided into passive fault-tolerant control (PFTC) and active fault-tolerant control (AFTC). PFTC is the use of robust control technology to make the system insensitive to intra set faults, but because the controller is the same control gain when the system is normal and fault, the conservativeness.AFTC method is to restructure or reconstruct a new controller for the online estimation of the fault results. The reconfiguration or reconfiguration of the fault and controller takes time, so the real-time performance of AFTC is poor. The trigger mechanism of the discrete event is the trigger condition of a given event. By judging whether the condition is established or not, the transmission of information is determined, and the root cause of the generation of network induced delay is the limited network bandwidth, and the trigger mechanism of the discrete event can be obvious. To reduce the communication load to maintain the stability of the system, the research on NCS fault tolerant control under the event triggering mechanism is mainly focused on the design of PFTC and filter. In order to effectively save network resources and combine the advantages and disadvantages of active and passive, the design of hybrid controller based on event triggering mechanism may become the main research owner. In view of this, this paper aims at linear uncertain NCS with time-varying delay. Based on event triggering mechanism, this paper studies the passive hybrid robust fault-tolerant control problem in the case of arbitrary failure of the actuator. The overall outline is as follows: 1) the problem of the active and passive hybrid fault-tolerant control based on the event triggering mechanism to study the nominal linear NCS The nominal linear NCS of time-varying delay is based on the independent event generator and the intelligent sensor with event generator (integrated event generator). The fault system model is established and the passive fault-tolerant controller is designed to stabilize the system when the fault is within the fault set. The fault diagnosis observer is used to estimate the loss of the arbitrary actuator. The size of the effective fault, once the accurate fault information is obtained, the controller is reconstructed immediately to compensate for the effect of the fault. Finally, the data transmission is compared between the independent event generator and the integrated event generator by simulation, and the base.2 based on the event is laid for the subsequent study of the passive hybrid robust fault-tolerant control under the discrete event trigger mechanism. The main passive hybrid robust fault-tolerant control problem of linear uncertain NCS is studied by trigger mechanism. A NCS fault model based on discrete event triggered communication mechanism is established for linear uncertain NCS with time-varying delay. A robust fault detection observer based on H_ infinity control is designed, and a passive robust fault-tolerant controller is designed off-line to ensure the system. The system is stable when a known fault occurs, and the performance degradation speed of the system is slowed down at the beginning of the unknown fault, and the robust fault detection observer is used to detect the fault on line on line, and the effect of the controller to compensate for the effect of any unknown fault on the system is reconstructed.3) based on the event triggering mechanism, the robust H_ infinity control of the linear uncertain NCS primary and passive switching is studied. The system is a linear uncertain NCS with time-varying delay. Under the influence of the external finite energy disturbance, based on the discrete event triggered communication mechanism, the normal controller and the passive robust H_ infinity fault-tolerant controller are designed respectively, so that the system can have good dynamic performance when the system runs normally. When the system fails, the transient switching is passed. The function smooth switching to passive robust H_ infinity fault-tolerant controller ensures that the system is not only stable but also has a certain H_ infinity disturbance rejection performance when the known fault occurs, and the performance degradation speed of the system is slowed down at the beginning of the unknown fault, and the robust H_ infinity detection observer is designed, the fault is detected in real time, and the adaptive compensation control is used to eliminate the fault. The influence of the unknown fault on the system.4) on the basis of the above research, the simulation example is used to simulate the results of the passive fault-tolerant controller, the active fault-tolerant controller, the hybrid fault-tolerant controller and the switching function design, and the analysis of the influence of the system performance. The results show that the conclusions obtained in this paper are correct. For the above research conclusions, the simulation results show that the event generator is introduced at the sensor end and the design of fault estimation with time-varying delay linear uncertainty NCS and the integrated robust fault-tolerant control integration design with the primary and passive hybrid are realized. The proposed fault diagnosis method based on the observer can be proposed. It is effective to diagnose any fault. In different cases, the state feedback control strategy is adopted to design the passive hybrid robust fault-tolerant controller, which makes the system not only asymptotically stable but also asymptotically stable in both normal running state and actuator fault.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP273
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，本文編號：2169134
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