Double-layer Kalman filter-based intermittent failure diagnosis and active fault-tolerant control method

A technology of fault diagnosis and fault-tolerant control, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of limited detection and isolation, lack of intermittent fault estimation, etc.

Active Publication Date: 2018-11-20
南通耀源机电有限公司
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  • Application Information

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Problems solved by technology

It can be seen from the above literature that most of the existing research is limited to detection and isolation, and there is a l...

Method used

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  • Double-layer Kalman filter-based intermittent failure diagnosis and active fault-tolerant control method

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Embodiment 1

[0182] In this embodiment, a kind of intermittent fault diagnosis and active fault-tolerant control method based on double-layer Kalman filter comprises the following steps:

[0183] (1) System and problem description

[0184] Consider the following linear discrete-time system with intermittent failures:

[0185]

[0186] x(k)∈R n , u(k)∈R q , y(k)∈R m , m θ (k)∈R q represent the system state, control input, system output and intermittent fault matrix, respectively. A, B, C, F are known matrices with appropriate dimensions. In this paper, considering the intermittent failure of the actuator, B=F. Without loss of generality, the external disturbance w(k)∈R n , v(k)∈R m As Gaussian white noise, and E(w(k))=0, E(w(k)w T (k))=W; E(v(k))=0, E(v(k)v T (k)) = V;

[0187] Among them, W and V are positive definite symmetric matrices, and it is assumed that w(k) and v(k) are irrelevant, that is, cov(w(k), v(k))=0.

[0188] Assume that the initial state x(0) of the system ...

Embodiment 2

[0351] Consider the following DC motor control system experiencing intermittent failures:

[0352] x=[i a ω] T , u=v a ,

[0353] where i a , ω and v arepresent the armature current, angular velocity and armature voltage, respectively. R a is the armature resistance, L a is inductance. K v and K n are the voltage and motor constants, J i is the moment of inertia, B 0 coefficient of friction. The control objective of this embodiment is to regulate the output voltage, armature current and angular velocity to zero. y is the measured value of motor terminal voltage U, and its expression is U=C e Φn+i a R a , C e is the motor constant (see literature: Papa Thomas T V, Scuderi Deceased.R, White C E B MS. Rectifier control system for a DC power plant system: CA, US4451773[P].1984.; Keller J Y, Sauter D D J. Kalman Filter for Discrete-Time Stochastic Linear Systems Subject to Intermittent Unknown Inputs[J]. IEEE Transactions on Automatic Control,2013,58(7):1882-18...

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Abstract

The invention discloses a double-layer Kalman filter-based intermittent failure diagnosis and active fault-tolerant control method. The method includes the following steps that: a linear discrete timesystem model on which an intermittent failure occurs is established; double-layer Kalman filter-based intermittent failure diagnosis is performed; and fault-tolerance control for the intermittent failure is performed. The invention provides the above method for one type of linear discrete time systems on which intermittent failures occur. With the method adopted, the occurrence time and disappearance time of the intermittent failure can be accurately and effectively detected under the condition of noise disturbance, and the solving problem of the intermittent failure is converted into the optimization problem of minimum variance unbiased estimation under an intermittent failure gain constraint, so that an optimal estimation value can be obtained accurately; and a failure diagnosis processis combined with the design process of a fault-tolerant controller, so that the real-time performance and rapidity of fault-tolerant control can be ensured. The active fault-tolerant controller is simple in structure and is easy to implement, and can ensure the stable operation of the system even when the intermittent failure occurs.

Description

technical field [0001] The invention belongs to the technical field of intermittent fault diagnosis and fault-tolerant control, in particular to a method for intermittent fault diagnosis and active fault-tolerant control based on a double-layer Kalman filter. Background technique [0002] With the development of modern engineering systems in the direction of large-scale, complex, networked, and decentralized, the requirements for performance, cost constraints, and low energy consumption continue to increase, and the possibility of various failures during operation is also increasing. In network communications, electrical systems, electromagnetic systems, and mechanical systems, faults often appear random, intermittent, and repetitive. This special fault, which is different from permanent faults and transient faults, is called intermittent faults. On the one hand, interval faults will evolve into permanent faults due to cumulative effects, leading to overall system failure. O...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 邱爱兵沈世焜周俊王胜锋钟永彦陈娟瞿遂春商亮亮
Owner 南通耀源机电有限公司
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