基于滑模变结构的非线性系统执行器故障容错控制

发布时间：2018-11-01 14:01

【摘要】：现代工程系统大规模复杂化的发展趋势对可靠性和安全性提出更高的要求,系统一旦发生事故,会造成人员和财产的巨大损失。在控制系统中,执行器因其工作的繁复性,是最容易发生故障的部分。在系统的某些部件出现故障的情形下,容错控制技术通过对故障的检测与隔离或系统重构,调整控制器的控制律等手段,保证系统能够安全可靠地继续运行,达到预定的性能指标。因此,对系统执行器故障的容错控制研究具有极为重要的意义。本文主要研究了一类包含执行器故障和未知输入干扰的非线性系统,以Lyapunov稳定性理论和滑模变结构控制理论为理论依据,从提高系统鲁棒性、保持较高的可靠性和安全性能等方面着手,开展了从单被控系统容错跟踪控制到多被控系统协同容错控制的深入研究。本文的主要研究工作如下:通过大量查阅国内外文献,对目前容错控制领域的发展现状及在执行器故障中的应用进行归纳总结,指出本文的研究意义和需要进一步解决的关键问题。针对一类包含执行器故障和未知输入干扰的非线性系统,提出了一种基于滑模的容错控制方法,以解决故障系统的容错跟踪控制问题。该方法可以对故障进行检测、隔离,估计,可以获取故障信息,可以对故障造成的影响进行补偿,实现系统对故障和扰动的容错性和鲁棒性,具有很强的工程参考价值。针对一类包含执行器故障的多机器人系统,提出了一种基于环形耦合的协同容错控制方法,以解决多机器人系统的故障容错及同步控制问题。该方法可以获取故障信息,抑制故障的影响,使多机器人系统不仅具有良好的跟踪性能,还具有较高的同步性能。仿真结果验证了所提方法的有效性。
[Abstract]:The development trend of large-scale complexity of modern engineering system puts forward higher requirements for reliability and safety. Once an accident occurs in the system, it will cause huge loss of personnel and property. In the control system, the actuator is the most prone to failure because of the complexity of its work. In the case of failure of some parts of the system, the fault-tolerant control technology can ensure the system to run safely and reliably by detecting and isolating the fault or reconstructing the system, adjusting the control law of the controller and so on. Meet the predetermined performance targets. Therefore, it is of great significance to study the fault tolerant control of system actuator. In this paper, a class of nonlinear systems with actuator faults and unknown input disturbances are studied. Based on Lyapunov stability theory and sliding mode variable structure control theory, the robustness of the system is improved. In order to maintain high reliability and security performance, the research on fault-tolerant tracking control of single-controlled system to cooperative fault-tolerant control of multi-controlled system is carried out. The main research work of this paper is as follows: through consulting a lot of literature at home and abroad, the paper summarizes the current situation of fault-tolerant control field and its application in actuator fault. The significance of this paper and the key problems that need to be solved are pointed out. A sliding mode based fault-tolerant control method is proposed for a class of nonlinear systems with actuator faults and unknown input disturbances to solve the fault tolerant tracking control problem. This method can detect, isolate, estimate and obtain fault information, compensate for the influence of fault, and realize the fault tolerance and robustness of the system to fault and disturbance. It has strong engineering reference value. For a class of multi-robot systems with actuator faults, a novel coordinated fault-tolerant control method based on ring coupling is proposed to solve the fault tolerance and synchronization control problems of multi-robot systems. This method can obtain fault information and restrain the influence of fault, so that the multi-robot system not only has good tracking performance, but also has high synchronization performance. Simulation results show the effectiveness of the proposed method.
【学位授予单位】：湖南工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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