执行器故障不确定系统的迭代学习容错控制  

Iterative Learning Fault-tolerant Control for the Uncertain System with Actuator Fault

作　　者：丁健[1] 颜艳[2] 张玉芳 杨慧中 DING Jian;YAN Yan;ZHANG Yu-fang;YANG Hui-zhong(School of Control Technology,Wuxi Institute of Technology,Wuxi 214121,China;School of Internet of Things,Wuxi Vocational Institute of Commerce,Wuxi 214153,China;Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)

机构地区：[1]无锡职业技术学院控制技术学院,江苏无锡214121 [2]无锡商业职业技术学院物联网技术学院,江苏无锡214153 [3]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《控制工程》2023年第2期251-256,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61773181);江苏省自然科学青年基金项目(BK20180953);江苏高校青蓝工程项目(苏教师[2019]3号)。

摘　　要：针对含有执行器故障的不确定连续系统,提出了一种基于扩张状态观测器的迭代学习容错控制方法。首先,将实际故障执行器和理想线性执行器之间的偏差合并到系统总扰动中,并利用扩张状态观测器在批次内快速估计和补偿总扰动,保证批次内广义去扰动态模型的不变性;然后,基于广义去扰动态模型设计PD型迭代学习控制律,使系统在批次方向获得满意的跟踪性能,并研究执行器故障情形迭代学习控制系统的收敛性;最后,通过一个二阶控制系统的仿真实验验证了所提控制方法的有效性。An iterative learning fault tolerant control method based on extended state observer is proposed for uncertain continuous systems with actuator faults. Firstly, the deviation between the faulty actuator and ideal linear actuator is combined into the total disturbance. By using the ESO, the total disturbance is estimated and compensated rapidly within the batch, which can ensure the invariance of the generalized disturbance-free dynamic model. Secondly, the PD iterative learning controller is designed to get satisfied tracking performance along the batch. Moreover, the convergence of iterative learning control systems with actuator fault is studied.Finally, the effectiveness of the proposed method is demonstrated by the simulation results of a second-order control system.

关 键 词：执行器故障 迭代学习控制 扩张状态观测器 容错控制 总扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]