【摘要】：隨著諸如生產(chǎn)、交通、通信等實(shí)際系統(tǒng)的日益規(guī)模化和復(fù)雜化,安全問題受到全社會(huì)的普遍關(guān)注。容錯(cuò)控制是能夠自動(dòng)適應(yīng)系統(tǒng)故障并維持系統(tǒng)具有可接受性能(如穩(wěn)定性、可靠性)的控制理論和方法。近四十年來,容錯(cuò)控制得到了工業(yè)界和學(xué)術(shù)界的廣泛關(guān)注,取得了長(zhǎng)足發(fā)展。故障在實(shí)際系統(tǒng)中不可避免,會(huì)引發(fā)系統(tǒng)的異常行為,危及系統(tǒng)的穩(wěn)定性,是容錯(cuò)控制研究關(guān)注的焦點(diǎn)。以持續(xù)時(shí)間為標(biāo)準(zhǔn),故障可以分為永久故障和間歇故障。目前,容錯(cuò)控制研究和應(yīng)用中所考慮的故障往往都是永久故障,僅有少量文獻(xiàn)研究了間歇故障的容錯(cuò)控制問題。然而,間歇故障在實(shí)際系統(tǒng)中大量存在,嚴(yán)重影響系統(tǒng)性能和安全,且不能用針對(duì)永久故障的容錯(cuò)控制方法予以解決。因此,本文系統(tǒng)研究了間歇故障的容錯(cuò)控制問題,既考慮了不同作用形式(加性和乘性)的間歇故障,也考慮了不同作用部位(傳感器和執(zhí)行器)的間歇故障。主要研究?jī)?nèi)容包括：1.第二章研究了一類帶有加性間歇故障的線性系統(tǒng)容錯(cuò)控制問題,分別考慮了僅發(fā)生傳感器故障、僅發(fā)生執(zhí)行器故障和兩種故障同時(shí)發(fā)生三種情形。所考慮的加性間歇故障由服從Bernoulli分布的隨機(jī)變量進(jìn)行描述。H∞性能指標(biāo)被用于衡量容錯(cuò)控制性能。基于線性矩陣不等式方法,可以得到容錯(cuò)控制器存在的充分條件,并求得相應(yīng)的動(dòng)態(tài)輸出反饋控制器。仿真結(jié)果表明了所提方法的有效性。2.第三章研究了一類帶有多重加性間歇故障的非線性系統(tǒng)容錯(cuò)控制問題,同樣分別考慮了僅發(fā)生傳感器故障、僅發(fā)生執(zhí)行器故障和兩種故障同時(shí)發(fā)生三種情形。此外,本章還考慮了非線性動(dòng)態(tài)和建模不確定性。多重加性間歇故障由一組服從Bernoulli分布的隨機(jī)變量描述。類似于第二章,H∞性能指標(biāo)被用于衡量容錯(cuò)控制性能�；诰�性矩陣不等式方法,得到了容錯(cuò)控制器存在的充分條件,并求得相應(yīng)的動(dòng)態(tài)輸出反饋控制器。在飛行器發(fā)動(dòng)機(jī)系統(tǒng)上的仿真試驗(yàn)驗(yàn)證了所提控制方法的有效性3.本文在第四章中對(duì)一類帶有乘性間歇故障的非線性不確定系統(tǒng)的容錯(cuò)控制問題開展了研究,同樣也考慮了僅發(fā)生傳感器故障、僅發(fā)生執(zhí)行器故障和兩種故障同時(shí)發(fā)生三種情形。乘性間歇故障由服從Markov鏈的隨機(jī)變量描述。同樣地,容錯(cuò)控制目標(biāo)以H∞性能指標(biāo)形式給出。上述容錯(cuò)控制器存在的充分條件也描述為矩陣不等式,求解該矩陣不等式可以得到相應(yīng)的動(dòng)態(tài)輸出反饋控制器。仿真結(jié)果驗(yàn)證了所提容錯(cuò)控制策略的有效性。4.第五章針對(duì)一類帶有傳感器間歇故障的Wiener系統(tǒng)開展了主動(dòng)容錯(cuò)控制研究,其中所考慮的Wiener系統(tǒng)以醫(yī)療中的臨床麻醉為背景。本章中,引入了內(nèi)模控制算法以構(gòu)建基本的閉環(huán)麻醉控制系統(tǒng)。針對(duì)傳感器可能出現(xiàn)的間歇故障,采用擴(kuò)展?fàn)顟B(tài)觀測(cè)器構(gòu)造殘差并進(jìn)行故障檢測(cè),因?yàn)閃iener系統(tǒng)存在靜態(tài)非線性環(huán)節(jié)�；谏鲜鲇^測(cè)器輸出,進(jìn)一步構(gòu)造切換控制策略以實(shí)現(xiàn)容錯(cuò)控制。最后,基于麻醉仿真平臺(tái)的仿真結(jié)果表明了所提容錯(cuò)控制方法的有效性。
[Abstract]:With the increasing scale and complexity of the actual systems, such as production, transportation, communication, and the like, the security problem is generally concerned by the whole society. The fault-tolerant control is a control theory and method capable of automatically adapting to the system fault and maintaining the acceptability of the system (such as stability and reliability). Over the past four decades, fault-tolerant control has received extensive attention from industry and academia and has made great progress. The failure is inevitable in the actual system, which can cause the abnormal behavior of the system and endanger the stability of the system. It is the focus of the fault-tolerant control research. The fault can be divided into permanent and intermittent faults with the duration of the standard. At present, the fault-tolerant control research and the application in the application are often permanent faults, only a small number of the literature studies the fault-tolerant control problem of the intermittent fault. However, the intermittent fault exists in the actual system, which seriously affects the system performance and safety, and cannot be solved with the fault-tolerant control method for the permanent fault. In this paper, the fault-tolerant control of intermittent faults is studied in this paper. The intermittent faults of different acting forms (additive and multiplicative) are considered, and the intermittent faults of different working parts (sensors and actuators) are also taken into account. The main research contents include:1. In the second chapter, the fault-tolerant control of a class of linear systems with additive intermittent faults is studied. The additive intermittent fault considered is described by a random variable that is subject to the Bernoulli distribution. The performance index of H is used to measure the fault-tolerant control performance. Based on the linear matrix inequality method, a sufficient condition for the existence of a fault-tolerant controller can be obtained, and a corresponding dynamic output feedback controller can be obtained. The simulation results show the validity of the proposed method. In the third chapter, the fault-tolerant control of a class of nonlinear systems with multiple additive intermittent faults is studied. In addition, non-linear dynamics and modeling uncertainties are considered in this chapter. The multiple additive intermittent faults are described by a set of random variables which are subject to the Bernoulli distribution. Similar to the second chapter, the performance index of H is used to measure the fault-tolerant control performance. Based on the linear matrix inequality method, a sufficient condition for the existence of a fault-tolerant controller is obtained, and a corresponding dynamic output feedback controller is obtained. The simulation test on the aircraft engine system verifies the effectiveness of the proposed control method 3. In the fourth chapter, the fault-tolerant control of a class of non-linear uncertain systems with multiplicative intermittent faults is studied. The multiplicative intermittent fault is described by the random variable which is subject to the Markov chain. In the same way, the fault-tolerant control objective is given in the form of H-scale performance indicators. The sufficient condition of the above-mentioned fault-tolerant controller is also described as a matrix inequality, and a corresponding dynamic output feedback controller can be obtained by solving the matrix inequality. The simulation results verify the validity of the proposed fault-tolerant control strategy. In chapter five, an active fault-tolerant control study is carried out for a class of Wiener systems with intermittent faults, in which the Wiener system under consideration is based on the clinical anesthesia in medical care. In this chapter, an internal model control algorithm is introduced to construct a basic closed-loop anesthesia control system. The extended state observer is used to construct the residual and fault detection for possible intermittent faults of the sensor, because the Wiener system has a static non-linear link. Based on the observer output, a switching control strategy is further configured to realize fault-tolerant control. Finally, the simulation results of the simulation platform based on the anesthesia show the effectiveness of the proposed fault-tolerant control method.
【學(xué)位授予單位】：北京化工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP273

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