基于未知输入观测器的直流电机鲁棒故障估计  

Robust Fault Estimation of DC Motor Based on Unknown Input Observer

作　　者：高升 张伟[1,2] 龚海里[1,2] 金博丕[1,2] GAO Sheng;ZHANG Wei;GONG Hai-li;JIN Bo-pi(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《测控技术》2023年第3期134-142,共9页Measurement & Control Technology

基　　金：中国科学院战略性先导科技专项(A类)子课题(XDA14030303);中国科学院空间科学战略性先导科技专项课题(XDA1502030505)。

摘　　要：针对直流电机系统提出一种基于未知输入观测器(UIO)的鲁棒故障估计方法,同时估计系统中的执行器故障和传感器故障。首先,构建包含系统传感器故障的增广状态系统;然后,基于该增广系统提出一种新颖的UIO,并给出了该观测器的存在条件和多故障估计策略;同时,引入H_(∞)性能指标最大程度地抑制干扰对故障估计结果的影响;接着,给出观测器的设计条件和参数求解过程并将其转化为易于求解的线性矩阵不等式(LMI)的形式;最后,通过算例仿真和实验验证了该方法的有效性和可用性。A robust fault estimation method based on unknown input observer(UIO) is proposed for DC motor system,which can estimate actuator and sensor faults simultaneously.Firstly,an augmented state system containing sensor faults is constructed.Then,a novel UIO based on the augmented descriptor system is proposed to estimate actuator and sensor faults,and the existence condition and multiple faults estimation scheme based on the observer are introduced.At the same time,an H_∞ performance index is employed to attenuate the influence of disturbances on the fault estimation results as much as possible.Furthermore,the design conditions of the observer are transformed into linear matrix inequality(LMI) which is easy to solve.Finally,the effectiveness of the developed UIO is validated through simulations and experiments.

关 键 词：未知输入观测器 故障估计 直流电机 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]