Adaptive fault detection and isolation method for uncertain nonlinear control system

A nonlinear control and fault detection technology, applied in general control systems, control/regulating systems, testing/monitoring control systems, etc. Adaptive fault detection and isolation methods and other issues

Active Publication Date: 2020-09-18
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention is to solve the problem that the fault types that can be judged by the fault diagnosis method in the prior art are relatively single, and the uncertainty of system parameters is not considered. Now, an adaptive fault detection and isolation method for an uncertain nonlinear control system is proposed.

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  • Adaptive fault detection and isolation method for uncertain nonlinear control system
  • Adaptive fault detection and isolation method for uncertain nonlinear control system
  • Adaptive fault detection and isolation method for uncertain nonlinear control system

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specific Embodiment approach 1

[0054] Specific implementation mode one: combine figure 1 To illustrate this embodiment, the adaptive fault detection and isolation method for an uncertain nonlinear control system includes:

[0055] Step 1: Design an uncertain parameter estimation scheme for the control system model, update the estimated values ​​of uncertain parameters in real time, reduce the influence of parameter uncertainty on fault diagnosis, and improve the sensitivity of the fault detection scheme;

[0056] The control system model is a nonlinear control system containing parameter uncertainty, and its state space expression is:

[0057]

[0058] Among them, x is the n-dimensional state vector of the system; is the first derivative of x, that is, the state space model of the system; θ is an uncertain parameter, f(x,u) and is a known nonlinear function matrix, Δ(x, u, t) represents the nonlinear uncertainty; assuming that the system only has one specific fault in N types of faults (this method ...

specific Embodiment approach 2

[0095] Specific implementation mode two: this implementation mode is different from the specific implementation mode in that the steps described in step one upper bound of for:

[0096] upper bound of for:

[0097]

[0098] Among them, λ m is the largest eigenvalue of matrix A, δ m is the upper bound of the system disturbance, ie |Δ(x,u,t)|≤δ m ;

[0099] The initial value of the parameter adaptive estimation error upper bound is:

[0100]

[0101] Among them, θ max ,θ min are the upper and lower bounds of the uncertain parameter vector modulus, namely θ min ≤|θ|≤θ max .

[0102] Other steps and parameters are the same as those in the first embodiment.

specific Embodiment approach 3

[0103] Specific implementation mode three: the difference between this implementation mode and specific implementation modes one or two is that the steps described in step two Corresponding fault detection adaptive threshold μ i (t), specifically:

[0104]

[0105] Among them, Ψ i (x,u) is a known function row vector the upper bound of L i Represents the state estimator gain of the state estimator (12), t represents the running time of the system, δ im is the upper bound of the disturbance component of the system, ie |Δ i (x,u,t)|≤δ im .

[0106] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses an adaptive fault detection and isolation method for an uncertain nonlinear control system, and relates to a fault detection and isolation method for a nonlinear control system. The invention adaptive fault detection and isolation method to solve the problems that the fault type judged by the existing fault diagnosis method is single and the uncertainty of system parametersis not considered. The adaptive fault detection and isolation method comprises the steps of: designing an uncertain parameter estimation scheme for a control system model, and updating an uncertain parameter estimation value in real time; and designing a fault detection state estimator based on the obtained estimated value of the uncertain parameter, estimating the system state to obtain a systemstate estimation residual error; and when detecting that the system has a fault at a certain moment, judging which type the fault belongs to, i.e., starting an isolation scheme. The adaptive fault detection and isolation method belongs to the field of nonlinear control system fault detection and isolation.

Description

technical field [0001] The invention relates to a fault detection and isolation method for a nonlinear control system, in particular to an adaptive fault detection and isolation method for an uncertain nonlinear control system. Background technique [0002] In order to improve the reliability and security of the control system, it is very important to design a fault diagnosis scheme for the system. When the system fails, such as actuator failures, sensor failures, and structural failures caused by aging or damage of system components, effective fault diagnosis methods can detect the occurrence of faults in a timely and accurate manner, determine the type of fault, and provide fault-tolerant or Deactivation and replacement of faulty components provide a prerequisite to prevent further spread of faults and reduce the impact of faults on system operation to ensure system stability, reliability, and security. [0003] Most of the existing fault diagnosis schemes only diagnose a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0213G05B23/0243G05B23/0275
Inventor 孙维超闫帅高会军
Owner HARBIN INST OF TECH
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