多智能体系统的故障诊断与容错控制方法研究

发布时间：2018-01-06 07:42

本文关键词：多智能体系统的故障诊断与容错控制方法研究　出处：《长春工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,随着智能体在军事和民用等各方面的广泛应用,多智能体系统的协调控制受到了越来越多地关注。由于单个智能体的故障可通过智能体间的协同行为扩散到整个系统,使整个系统失稳,甚至造成巨大损失。因此,本文建立了一种多智能体系统的故障处理框架,并在该框架下设计了基于未知输入观测器的故障诊断方法以及基于李雅普诺夫稳定性思想的容错控制策略。首先,本文给出了多智能体系统、图论以及拉普拉斯矩阵之间的关系,在此基础上,分析了不同拓扑结构对系统稳定性的影响,建立了二阶多智能体系统的一般模型。同时介绍了系统常见的故障类型,并针对执行器故障,提出了基于未知输入观测器的故障诊断方法,构建出对特定故障不敏感的未知输入观测器,使得在故障发生时,能够根据故障定位逻辑快速定位出故障智能体。并通过Matlab仿真验证了所设计的观测器的有效性。其次,采用李雅普诺夫稳定性思想,构造出李雅普诺夫势能函数。然后推导出多智能体系统分别在无向图和有向图下发生故障时保持系统稳定所需要满足的条件,并给出了权重调整策略,在实现容错的基础上满足了一定的性能指标,通过水平位置收敛运动仿真,验证了其有效性。最后,把本文提出的故障诊断与容错控制方法应用在汽车安全气囊生产线折袋工位上。根据安全气囊折袋工位各个电机存在的耦合关系,给出了对应的多智能体模型。针对该工位的卷袋故障进行了故障判别,并通过Matlab仿真,验证了本文所提方法的可行性。
[Abstract]:In recent years, with the wide application of intelligent agent in the military and civilian aspects of the coordination control of multi-agent systems has attracted more and more attention. Due to the failure of individual agents can spread to the entire system through cooperative behavior among agents, the instability of the whole system, and even cause huge losses. Therefore, this paper a fault handling framework of a multi-agent system, and in the framework design of the fault diagnosis method based on unknown input observer and fault tolerant control strategy based on Lyapunov stability theory. Firstly, this paper gives a multi-agent system, the relationship between graph theory and the Laplasse matrix, on the basis of this analysis. The influence of different topological structure on the stability of the system, a general model of two order multi-agent system. And introduces the common fault types of the system, and according to the actuator Avoidance, this paper presents a fault diagnosis method based on unknown input observer, construct the unknown input observer is not sensitive to the specific fault, the fault occurs, can quickly locate the fault according to the fault location agent logic. And the effectiveness of the designed observer is verified by Matlab simulation. Secondly, using Lyapunov stability thought, construct the Lyapunov energy function. Then deduce the multi-agent system in undirected graph and maintain stability of the system to meet the required conditions for the occurrence of fault to map, and gives the weight adjustment strategy to meet certain performance index based on fault tolerance, the horizontal position of the convergence movement the simulation, to verify its effectiveness. Finally, the proposed fault diagnosis and fault tolerant control method is used in the production line of automobile airbag folding bag. According to the safety of gas station The coupling relationship between each motor in the bag breaking station is given, and the corresponding multi-agent model is given. The fault diagnosis of the bag fault is carried out, and the feasibility of the proposed method is verified by Matlab simulation.

【学位授予单位】：长春工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP13;TP18

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