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Fault estimation observation method and device for nonlinear system with disturbance

A nonlinear system and fault estimation technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as difficult to detect the size and type of faults, and achieve easy research, fast and accurate tracking, and increased accuracy sexual effect

Inactive Publication Date: 2021-11-30
HENAN UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, it is difficult to detect the exact size and type of fault

Method used

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  • Fault estimation observation method and device for nonlinear system with disturbance
  • Fault estimation observation method and device for nonlinear system with disturbance
  • Fault estimation observation method and device for nonlinear system with disturbance

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Embodiment 1

[0029] refer to figure 1 , Embodiment one of the present invention provides a kind of nonlinear system fault estimation observation method with disturbance, described method comprises the following steps:

[0030] S1: Modeling a nonlinear continuous-time system with disturbances.

[0031] The nonlinear continuous-time system model with disturbance is as follows:

[0032]

[0033] In the above formula: x(t)∈R a is the state of the system, u(t)∈R m is the system input, y(t)∈R p is the output of the system, f(t)∈R q is an additive fault signal and satisfies f 0 is a known constant, d(t)∈R q is the interference signal, A, B, and C are dimension-appropriate matrices, F is the fault matrix, D is the disturbance signal matrix, M is the nonlinear function matrix, and the matrix E is singular, that is, rank(E)≤n, g(t, x(t))∈R q It is a continuous nonlinear vector function, assuming that g(t,x(t)) satisfies the Lipschitz condition, there is a Lipschitz constant L g makes: ...

Embodiment 2

[0154] refer to Figure 8 , Embodiment 2 of the present invention provides a nonlinear system fault estimation and observation device with disturbance, the device includes: an establishment module, a design module, a solution module and a startup module. The various modules are specifically used for:

[0155] The building module is used for building a nonlinear continuous time system model with disturbance.

[0156] The nonlinear continuous-time system model with disturbance is as follows:

[0157]

[0158] In the above formula: x(t)∈R a is the state of the system, u(t)∈R m is the system input, y(t)∈R p is the output of the system, f(t)∈R q is an additive fault signal and satisfies f 0 is a known constant, d(t)∈R q is the interference signal, A, B, and C are dimension-appropriate matrices, F is the fault matrix, D is the disturbance signal matrix, M is the nonlinear function matrix, and the matrix E is singular, that is, rank(E)≤n, g(t, x(t))∈R q is a continuous ...

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Abstract

The invention discloses a fault estimation observation method and device for a nonlinear system with disturbance. The method comprises the following steps: S1, establishing a nonlinear continuous time system model with disturbance; s2, based on the nonlinear continuous time system model with disturbance, designing a fault estimation observer of the system in nonlinear continuous time, defining a state estimation error, defining a fault estimation residual error and an error, and obtaining a state estimation error dynamic equation; s3, giving a transfer function, and solving a performance index of the transfer function in a given frequency range to obtain a performance index enabling the system to be stable; and S4, comparing the norm of the residual error passing through the observer with a threshold value of the filter, and determining whether the filter is started or not. For the nonlinear disturbance system, the fault reconstruction method combining the robust observer and the fault estimation filter is designed, the rapidity and the robustness of fault estimation are improved, and accurate and rapid estimation of faults is realized.

Description

technical field [0001] The invention relates to the technical field of fault diagnosis, in particular to a method and device for fault estimation and observation of a nonlinear system with disturbance. Background technique [0002] With the rapid development of science and technology, the complexity of industrial systems is also increasing. Once an industrial system fails, it will bring huge catastrophic consequences to the environment, equipment and human beings. Therefore, how to improve the security and reliability of industrial control systems is becoming more and more important. Fault diagnosis technology is an important link to improve system security and reliability. Model-based fault diagnosis research has attracted extensive attention of scholars. Since there are model uncertainties and external disturbances in the modeling process, which will affect the results of fault diagnosis, it is of great significance to design a robust fault detection and estimation metho...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 侯彦东孙行行李雅陈政权
Owner HENAN UNIVERSITY
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