發(fā)布時(shí)間：2019-03-07 15:33

【摘要】：在復(fù)雜系統(tǒng)中,可靠性和性能一樣重要。故障可能會(huì)徹底改變系統(tǒng)行為,從性能降級(jí)一直到系統(tǒng)不穩(wěn)定。容錯(cuò)控制(Fault Tolerant Control,FTC)就是為了達(dá)到系統(tǒng)目標(biāo),或者當(dāng)系統(tǒng)目標(biāo)無法達(dá)到時(shí),給定新的(可達(dá)到的)目標(biāo)以避免災(zāi)難性的行為發(fā)生。對(duì)于所有的系統(tǒng)來說,即使是在故障發(fā)生時(shí),都能夠以一個(gè)可接受的性能運(yùn)行是必要的,互聯(lián)系統(tǒng)也不例外。本文以互聯(lián)系統(tǒng)為研究對(duì)象,利用分散式的控制結(jié)構(gòu)進(jìn)行故障的診斷與容錯(cuò)控制設(shè)計(jì),對(duì)于互聯(lián)系統(tǒng)的容錯(cuò)控制研究具有重大的指導(dǎo)意義。本課題來源于國(guó)家自然科學(xué)基金項(xiàng)目,針對(duì)互聯(lián)系統(tǒng)進(jìn)行分散式的故障診斷與容錯(cuò)控制研究。文中首先回顧了互聯(lián)系統(tǒng)的故障診斷與容錯(cuò)控制方面的研究現(xiàn)狀,給出了針對(duì)互聯(lián)系統(tǒng)的容錯(cuò)控制的相關(guān)研究成果,著重介紹了故障、容錯(cuò)控制以及互聯(lián)系統(tǒng)的相關(guān)概念和互聯(lián)系統(tǒng)的三種主要控制方法:集中式控制方法、分布式控制方法和分散式控制方法�；诂F(xiàn)有的相關(guān)研究成果,本文研究了一類線性互聯(lián)系統(tǒng)、一類非線性互聯(lián)系統(tǒng)的分散式故障診斷與容錯(cuò)控制的相關(guān)問題,其中主要包括:(1)一類線性互聯(lián)系統(tǒng)的分散式故障診斷與容錯(cuò)控制。首先針對(duì)線性互聯(lián)系統(tǒng),從簡(jiǎn)單的線性情況出發(fā)考慮,在存在過程故障/執(zhí)行器故障和耦合故障的情況下,設(shè)計(jì)分散式故障診斷觀測(cè)器和分散式容錯(cuò)控制器,利用回路小增益原理消除耦合的影響,最終使得系統(tǒng)的狀態(tài)能夠收斂到原點(diǎn),可以證明整個(gè)互聯(lián)系統(tǒng)最終是穩(wěn)定的。(2)一類非線性互聯(lián)系統(tǒng)的分散式故障診斷與容錯(cuò)控制。從線性互聯(lián)系統(tǒng)的情況推廣到非線性互聯(lián)系統(tǒng),同樣設(shè)計(jì)分散式故障診斷觀測(cè)器診斷故障和狀態(tài)信息,設(shè)計(jì)分散式容錯(cuò)控制器進(jìn)行容錯(cuò)控制,利用回路小增益原理消除耦合帶來的影響,最終使得系統(tǒng)的狀態(tài)收斂到原點(diǎn)附近一個(gè)任意小的鄰域里面,整個(gè)互聯(lián)系統(tǒng)最終得以穩(wěn)定。最終通過一個(gè)三級(jí)倒立擺的實(shí)例來闡明所設(shè)計(jì)的容錯(cuò)控制方法的有效性。
[Abstract]:Reliability is as important as performance in complex systems. A failure can revolutionize the behavior of the system, from performance degradation to system instability. Fault tolerant Control (Fault Tolerant Control,FTC) is designed to achieve a system goal, or when a system goal cannot be achieved, a new (achievable) goal is given to avoid catastrophic behavior. For all systems, even in the event of a failure, it is necessary to be able to operate with an acceptable performance, and interconnected systems are no exception. In this paper, the distributed control structure is used to design fault diagnosis and fault-tolerant control for interconnected systems, which is of great significance to the research of fault-tolerant control of interconnected systems. This project comes from the National Natural Science Foundation of China, and researches on distributed fault diagnosis and fault-tolerant control for interconnected system. In this paper, the research status of fault diagnosis and fault-tolerant control for interconnected systems is reviewed, and the related research results for fault-tolerant control of interconnected systems are given, and the faults are emphatically introduced. Fault-tolerant control and related concepts of interconnected system and three main control methods of interconnected system: centralized control method, distributed control method and distributed control method. Based on the existing research results, this paper studies the distributed fault diagnosis and fault-tolerant control of a class of linear interconnected systems and a class of nonlinear interconnected systems. The main contents are as follows: (1) decentralized fault diagnosis and fault-tolerant control for a class of linear interconnected systems. For linear interconnected systems, a decentralized fault diagnosis observer and a decentralized fault tolerant controller are designed for linear interconnected systems in the presence of process fault / actuator fault and coupling fault. Using the loop small gain principle to eliminate the coupling effect, the state of the system can converge to the origin, which proves that the whole interconnected system is finally stable. (2) decentralized fault diagnosis and fault-tolerant control for a class of nonlinear interconnected systems. From the linear interconnected system to the nonlinear interconnected system, the decentralized fault diagnosis observer is designed to diagnose the fault and state information, and the decentralized fault tolerant controller is designed to carry out the fault tolerant control. The principle of loop small gain is used to eliminate the coupling effect, and finally the state of the system converges to an arbitrary neighborhood near the origin, and the whole interconnected system is finally stable. Finally, an example of a three-stage inverted pendulum is given to illustrate the effectiveness of the designed fault-tolerant control method.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273;TP277

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