基于滑模观测器的多传感器故障诊断方法  

DIAGNOSIS OF MULTIPLE SENSOR FAULTS BASED ON SLIDING MODE OBSERVER

作　　者：黄宜山[1,2] 张昌凡[2] 颜敏[2] 

机构地区：[1]湖南南车时代电动汽车股份有限公司,株洲412007 [2]湖南工业大学电气与信息工程学院,株洲412008

出　　处：《动力学与控制学报》2011年第4期378-384,共7页Journal of Dynamics and Control

基　　金：国家自然科学基金项目(61104024);湖南省自然科学基金项目(07JJ3118);湖南省科技厅科技计划项目(2009FJ3008)资助~~

摘　　要：针对一类非线性系统的传感器故障诊断问题,提出了一种多传感器故障检测方法.首先,定义一个状态变量将传感器故障转换成伪执行器故障,然后设计相应的滑模观测器生成残差,来实现多故障的检测.依据Lyapunov稳定性理论,以LMI的形式给出了观测器存在的充分条件.最后通过单关节机械手的实例,验证了所提方法的有效性和可行性.A multiply sensor faults detection method was proposed for a class of nonlinear system of sensor fault diagnosis problem. First, we defined a state variable to convert the sensor fault as pseudo actuators fault, and then generated the residual through the corresponding sliding - mode observer to realize the fault detection. Based on Lyapunov stability theory, a sufficient condition for observer was derived in the form of linear matrix inequality （LMI）. Finally, the correctness and effectiveness of the method were verified through a single link robot simulated experiments.

关 键 词：滑模观测器 残差 单关节机械手 线性矩阵不等式 故障检测 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]