一类伴有部分解耦干扰的非线性系统故障诊断  

Fault diagnosis design for nonlinear systems corrupted by partially decoupled disturbances

作　　者：马广富[3] 高升 郭延宁[3] MA Guang-fu;GAO Sheng;GUO Yan-ning(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang Liaoning 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang Liaoning 110169,China;School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,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 [3]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2024年第2期240-248,共9页Control Theory & Applications

基　　金：中国科学院战略性先导科技专项(A类)子课题项目(XDA14030303);国家自然科学基金项目(61973100,61876050)资助.

摘　　要：针对Lipschitz非线性系统执行器故障检测和传感器故障估计问题,本文提出了一种基于H_/L_(∞)未知输入观测器的有限频域故障诊断策略.首先,将系统处理成包含传感器故障的增广系统.然后,将该系统的未知输入干扰分为可解耦与不可解耦两部分.针对可解耦部分,利用观测器匹配条件将其从估计误差中消除.针对不可解耦部分,设计L_(∞)指标抑制其对残差的影响并结合有限频域H_指标提高执行器故障检测灵敏度.接着,给出观测器存在的充分条件并将其转化为受LMIs约束的线性优化问题,实现了执行器故障的鲁棒检测及传感器故障的鲁棒估计.最后,结合仿真算例验证了所提方法的正确性与有效性.A finite-frequency domain fault diagnosis scheme based on the H_/L_(∞)unknown input observer(UIO)is proposed for Lipschitz nonlinear system actuator fault detection and sensor fault estimation.First,an augmented system is developed by constructing an augmented state composed of system states and sensor faults.Then,the unknown input disturbances are divided into decoupled disturbances and the disturbances that cannot be decoupled.For the decoupled disturbances,the observer matching condition is used to eliminate them from the estimation error.TheL_(∞)index is designed to attenuate the influence of disturbances that cannot be decoupled and the finite-frequency domain H_index is used to improve the actuator fault detection sensitivity.Moreover,sufficient conditions for the proposed observer are derived and converted into a linear optimization problem constrained by linear matrix inequalities(LMIs).Robust detection of actuator faults and robust estimation of sensor faults are achieved.Finally,the correctness and effectiveness of the developed observer are validated through simulation examples.

关 键 词：故障检测 故障估计 H_指标 L_(∞)指标 有限频域 LIPSCHITZ非线性系统 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]