An anti-disturbance and fault-tolerant control method based on e-s sliding mode observer

Abstract

The invention relates to an anti-interference fault-tolerant control method based on an E-S sliding-mode observer, and specific to the control problem of interference and fault existing in a state unknown system, the method comprises the following steps: step I, constructing a dynamical model specific to a control system which contains interference and fault simultaneously; step II, designing the E-S sliding-mode observer to carry out real-time reconstruction on the fault based on the dynamical model constructed in the step I; step III, designing a full-order interference observer by utilizing real-time reconstruction information in the step II so as to estimate the interference; and step IV, designing an output feedback controller by utilizing the fault reconstruction information in the step II and an interference estimation value in the step III so as to complete the compound control of a control system. The method is based on the E-S sliding-mode observer and an anti--interference observer to design a system control method, can realize reconstruction of the fault and the estimation and compensation of the interference, and is used in a control system in which the interference and fault exist simultaneously and the state is unknown.

Description

technical field [0001] The invention relates to an anti-jamming and fault-tolerant control method based on an E-S sliding mode observer, which can be used in a state-unknown control system with disturbances and faults. Background technique [0002] With the development of control technology, the control strategy of complex control systems has become a new research hotspot, especially the state-unknown control systems with disturbances and faults in the system. Common modelable disturbances such as constant values ​​and harmonics widely exist in control systems, and such disturbances seriously affect the control accuracy of the system. In 1998, the geostationary satellite GOES-9 suffered serious interference due to the lack of lubrication of the flywheel, the pointing accuracy of the satellite dropped sharply, and eventually it completely failed. There are also modelable disturbances caused by other situations whose impact on the system cannot be ignored. In addition, syste...

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Problems solved by technology

However, the existing research methods are still insufficient. The patent application number is 201210258674.2, which proposes an anti-interference and fault-tolerant control method for multi-source interference systems, and designs an anti-interference and fault-tolerant controller, but does not use the method of sliding mode observer to detect faults. Refactoring is less robust to system uncertainties

Patent application number 201310081166.6 proposes a sliding mode control method with anti-disturbance and fault-tolerant performance, designs a sliding-mode controller with anti-disturbance and fault-tolerant capabilities, and designs an anti-disturbance observer for disturbance, but requires the system state to be known , in an actual system, some states cannot be measured or the cost of measurement is high, resulting in incompletely known or even unknown states, and it is difficult to implement a state feedback controller

In terms of fault reconstruction, the article "Fault-Tolerant Control of Near-Space Vehicles Based on Sliding Mode Observer" aimed at actuator faults in the structural position of near-space vehicles, and applied the E-S sliding-mode observer to design a fault-tolerant control method, but did not consider the interference of the system. situation, does not have anti-interference ability

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