【摘要】：現(xiàn)代工程系統(tǒng)大規(guī)模復雜化的發(fā)展趨勢對可靠性和安全性提出更高的要求,系統(tǒng)一旦發(fā)生事故,會造成人員和財產(chǎn)的巨大損失。在控制系統(tǒng)中,執(zhí)行器因其工作的繁復性,是最容易發(fā)生故障的部分。在系統(tǒng)的某些部件出現(xiàn)故障的情形下,容錯控制技術通過對故障的檢測與隔離或系統(tǒng)重構,調(diào)整控制器的控制律等手段,保證系統(tǒng)能夠安全可靠地繼續(xù)運行,達到預定的性能指標。因此,對系統(tǒng)執(zhí)行器故障的容錯控制研究具有極為重要的意義。本文主要研究了一類包含執(zhí)行器故障和未知輸入干擾的非線性系統(tǒng),以Lyapunov穩(wěn)定性理論和滑模變結構控制理論為理論依據(jù),從提高系統(tǒng)魯棒性、保持較高的可靠性和安全性能等方面著手,開展了從單被控系統(tǒng)容錯跟蹤控制到多被控系統(tǒng)協(xié)同容錯控制的深入研究。本文的主要研究工作如下:通過大量查閱國內(nèi)外文獻,對目前容錯控制領域的發(fā)展現(xiàn)狀及在執(zhí)行器故障中的應用進行歸納總結,指出本文的研究意義和需要進一步解決的關鍵問題。針對一類包含執(zhí)行器故障和未知輸入干擾的非線性系統(tǒng),提出了一種基于滑模的容錯控制方法,以解決故障系統(tǒng)的容錯跟蹤控制問題。該方法可以對故障進行檢測、隔離,估計,可以獲取故障信息,可以對故障造成的影響進行補償,實現(xiàn)系統(tǒng)對故障和擾動的容錯性和魯棒性,具有很強的工程參考價值。針對一類包含執(zhí)行器故障的多機器人系統(tǒng),提出了一種基于環(huán)形耦合的協(xié)同容錯控制方法,以解決多機器人系統(tǒng)的故障容錯及同步控制問題。該方法可以獲取故障信息,抑制故障的影響,使多機器人系統(tǒng)不僅具有良好的跟蹤性能,還具有較高的同步性能。仿真結果驗證了所提方法的有效性。
[Abstract]:The development trend of large-scale complexity of modern engineering system puts forward higher requirements for reliability and safety. Once an accident occurs in the system, it will cause huge loss of personnel and property. In the control system, the actuator is the most prone to failure because of the complexity of its work. In the case of failure of some parts of the system, the fault-tolerant control technology can ensure the system to run safely and reliably by detecting and isolating the fault or reconstructing the system, adjusting the control law of the controller and so on. Meet the predetermined performance targets. Therefore, it is of great significance to study the fault tolerant control of system actuator. In this paper, a class of nonlinear systems with actuator faults and unknown input disturbances are studied. Based on Lyapunov stability theory and sliding mode variable structure control theory, the robustness of the system is improved. In order to maintain high reliability and security performance, the research on fault-tolerant tracking control of single-controlled system to cooperative fault-tolerant control of multi-controlled system is carried out. The main research work of this paper is as follows: through consulting a lot of literature at home and abroad, the paper summarizes the current situation of fault-tolerant control field and its application in actuator fault. The significance of this paper and the key problems that need to be solved are pointed out. A sliding mode based fault-tolerant control method is proposed for a class of nonlinear systems with actuator faults and unknown input disturbances to solve the fault tolerant tracking control problem. This method can detect, isolate, estimate and obtain fault information, compensate for the influence of fault, and realize the fault tolerance and robustness of the system to fault and disturbance. It has strong engineering reference value. For a class of multi-robot systems with actuator faults, a novel coordinated fault-tolerant control method based on ring coupling is proposed to solve the fault tolerance and synchronization control problems of multi-robot systems. This method can obtain fault information and restrain the influence of fault, so that the multi-robot system not only has good tracking performance, but also has high synchronization performance. Simulation results show the effectiveness of the proposed method.
【學位授予單位】：湖南工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273

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