非线性系统的执行器故障自适应补偿控制

发布时间：2019-03-21 06:34

【摘要】：在实际的控制系统中,由于系统的长时间运行与元部件的老化等原因,系统的执行器无可避免的会发生故障.这些故障由于发生的时刻,故障的模式,故障值的大小,以及故障的相关参数常常都是未知的.在该情况下,执行器的故障补偿设计往往变得更加复杂和困难.另一方面,一旦被控系统发生执行器故障,将会导致系统的控制品质严重降低与受损.特别是在航空航天等对控制精度要求极高的重要领域,系统一旦发生执行器故障,往往就会造成重大的事故.因此,基于理论研究和现实考虑的重要性,设计一套能够有效补偿执行器故障的控制方案是十分必要的而且有意义的.本文针对系统的控制参数和执行器故障未知与外界扰动同时存在下的不确定性非线性系统,在目前已有文献与成果的基础上,研究了一种较为一般的执行器故障模型.受相关论文的启发,通过建立新的参数化模型,设计新的执行器自适应补偿控制的方案,有效的补偿了未知执行器故障对被控系统控制品质带来的影响,同时实现了系统的跟踪控制的目标.本文建立在以前论文的基础之上,针对未知参数和执行器故障的受扰的不确定性非线性系统,主要讨论以下两方面的问题.(1):系统的控制方向已知的受扰非线性系统的执行器故障补偿控制问题.针对上述执行器故障模型,通过建立新的易于处理的参数化模型,提出基于Backstepping的自适应设计方法的自适应补偿控制方案,来补偿系统所发生的未知执行器故障且容许故障次数为无限次,并实现整个闭环系统的稳定并且系统的所有信号是有界的,同时达到跟踪误差收敛到一个任意小的残余集的控制目标.(2):系统的控制方向未知的受扰非线性系统的执行器故障补偿控制问题.进一步研究上述系统,我们引入Nussbaum增益方法来去掉(1)中关于系统的高频增益b_m符号已知先验的假设条件,放宽了(1)中的条件,提出新的自适应补偿控制方案。
[Abstract]:In the actual control system, due to the long running time of the system and the aging of the components, the actuator of the system will inevitably fail. The time of failure, the mode of failure, the size of the fault value, and the parameters of the fault are often unknown. In this case, the design of actuator fault compensation becomes more complicated and difficult. On the other hand, once the actuator failure occurs in the controlled system, the control quality of the system will be seriously reduced and damaged. Especially in aerospace and other important areas requiring high control accuracy, once the actuator failure occurs, the system will often cause major accidents. Therefore, based on the importance of theoretical research and practical consideration, it is necessary and meaningful to design a control scheme which can effectively compensate the actuator fault. In this paper, a general actuator fault model is studied for uncertain nonlinear systems with unknown control parameters and actuator faults and external disturbances. Inspired by the related papers, by establishing a new parametric model and designing a new adaptive compensation control scheme for the actuator, the unknown actuator fault is effectively compensated for the impact of the unknown actuator fault on the control quality of the controlled system. At the same time, the tracking control target of the system is realized. In this paper, based on the previous paper, for uncertain nonlinear systems with unknown parameters and actuator faults, The following two problems are discussed in this paper. (1) the actuator fault compensation control of perturbed nonlinear systems with known control direction is discussed. In view of the above actuator fault model, a new adaptive compensation control scheme based on Backstepping adaptive design method is proposed by establishing a new parameterized model which is easy to deal with. To compensate for unknown actuator failures occurring in the system and allow unlimited number of faults, and to achieve the stability of the entire closed-loop system and the boundedness of all signals of the system. At the same time, the tracking error converges to the control target of an arbitrary residual set. (2): the actuator fault compensation control problem of the perturbed nonlinear system with unknown control direction. In order to further study the above systems, we introduce the Nussbaum gain method to remove the assumption that the high frequency gain symbol of the system is known in (1), relax the conditions in (1), and propose a new adaptive compensation control scheme.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

【参考文献】