一种基于降维干扰解耦的鲁棒执行器故障检测与分离

摘要

A method of actuator fault detection and isolation for a class of Lipschitz nonlinear systems with unknown disturbance is proposed based on reduced-order observers.Through equivalent state transformation,the state equation of the system is partitioned into two parts.Reduced-order observer was designed for the part de-coupled from unknown disturbance.The reduced order observer is able to track the system state asymptotically when no actuator fault occurs.And the residual was designed to detect the actuator fault when an actuator is in faulty condition.In order to isolate the faulty actuator,the multiobserver strategy was adopted.The simulation results to a simplified dynamics of the high incidence research model (HIRM) aircraft show that the proposed method is effective.%针对一类伴有未知干扰的Lipschitz非线性系统,探讨了基于观测器的执行器故障检测与分离的方法.通过等价状态变换,将系统的未知干扰进行了解耦,并在此基础上提出了一种不受未知干扰影响、但对故障敏感的降维观测器设计方法.基于降维观测器输出估计误差设计出残差,使得降维观测器可以作为故障检测器用于执行器故障检测；然后,基于多观测器方法,即设计出与执行器数目相同的观测器,实现了对执行器故障分离的目的；最后,对一个大攻角状态下飞行器的简化模型进行了数字仿真,仿真结果表明所提出的方法是有效的.