非線性系統(tǒng)的執(zhí)行器故障自適應(yīng)補(bǔ)償控制
發(fā)布時(shí)間：2019-03-21 06:34
【摘要】：在實(shí)際的控制系統(tǒng)中,由于系統(tǒng)的長時(shí)間運(yùn)行與元部件的老化等原因,系統(tǒng)的執(zhí)行器無可避免的會(huì)發(fā)生故障.這些故障由于發(fā)生的時(shí)刻,故障的模式,故障值的大小,以及故障的相關(guān)參數(shù)常常都是未知的.在該情況下,執(zhí)行器的故障補(bǔ)償設(shè)計(jì)往往變得更加復(fù)雜和困難.另一方面,一旦被控系統(tǒng)發(fā)生執(zhí)行器故障,將會(huì)導(dǎo)致系統(tǒng)的控制品質(zhì)嚴(yán)重降低與受損.特別是在航空航天等對(duì)控制精度要求極高的重要領(lǐng)域,系統(tǒng)一旦發(fā)生執(zhí)行器故障,往往就會(huì)造成重大的事故.因此,基于理論研究和現(xiàn)實(shí)考慮的重要性,設(shè)計(jì)一套能夠有效補(bǔ)償執(zhí)行器故障的控制方案是十分必要的而且有意義的.本文針對(duì)系統(tǒng)的控制參數(shù)和執(zhí)行器故障未知與外界擾動(dòng)同時(shí)存在下的不確定性非線性系統(tǒng),在目前已有文獻(xiàn)與成果的基礎(chǔ)上,研究了一種較為一般的執(zhí)行器故障模型.受相關(guān)論文的啟發(fā),通過建立新的參數(shù)化模型,設(shè)計(jì)新的執(zhí)行器自適應(yīng)補(bǔ)償控制的方案,有效的補(bǔ)償了未知執(zhí)行器故障對(duì)被控系統(tǒng)控制品質(zhì)帶來的影響,同時(shí)實(shí)現(xiàn)了系統(tǒng)的跟蹤控制的目標(biāo).本文建立在以前論文的基礎(chǔ)之上,針對(duì)未知參數(shù)和執(zhí)行器故障的受擾的不確定性非線性系統(tǒng),主要討論以下兩方面的問題.(1):系統(tǒng)的控制方向已知的受擾非線性系統(tǒng)的執(zhí)行器故障補(bǔ)償控制問題.針對(duì)上述執(zhí)行器故障模型,通過建立新的易于處理的參數(shù)化模型,提出基于Backstepping的自適應(yīng)設(shè)計(jì)方法的自適應(yīng)補(bǔ)償控制方案,來補(bǔ)償系統(tǒng)所發(fā)生的未知執(zhí)行器故障且容許故障次數(shù)為無限次,并實(shí)現(xiàn)整個(gè)閉環(huán)系統(tǒng)的穩(wěn)定并且系統(tǒng)的所有信號(hào)是有界的,同時(shí)達(dá)到跟蹤誤差收斂到一個(gè)任意小的殘余集的控制目標(biāo).(2):系統(tǒng)的控制方向未知的受擾非線性系統(tǒng)的執(zhí)行器故障補(bǔ)償控制問題.進(jìn)一步研究上述系統(tǒng),我們引入Nussbaum增益方法來去掉(1)中關(guān)于系統(tǒng)的高頻增益b_m符號(hào)已知先驗(yàn)的假設(shè)條件,放寬了(1)中的條件,提出新的自適應(yīng)補(bǔ)償控制方案。
[Abstract]:In the actual control system, due to the long running time of the system and the aging of the components, the actuator of the system will inevitably fail. The time of failure, the mode of failure, the size of the fault value, and the parameters of the fault are often unknown. In this case, the design of actuator fault compensation becomes more complicated and difficult. On the other hand, once the actuator failure occurs in the controlled system, the control quality of the system will be seriously reduced and damaged. Especially in aerospace and other important areas requiring high control accuracy, once the actuator failure occurs, the system will often cause major accidents. Therefore, based on the importance of theoretical research and practical consideration, it is necessary and meaningful to design a control scheme which can effectively compensate the actuator fault. In this paper, a general actuator fault model is studied for uncertain nonlinear systems with unknown control parameters and actuator faults and external disturbances. Inspired by the related papers, by establishing a new parametric model and designing a new adaptive compensation control scheme for the actuator, the unknown actuator fault is effectively compensated for the impact of the unknown actuator fault on the control quality of the controlled system. At the same time, the tracking control target of the system is realized. In this paper, based on the previous paper, for uncertain nonlinear systems with unknown parameters and actuator faults, The following two problems are discussed in this paper. (1) the actuator fault compensation control of perturbed nonlinear systems with known control direction is discussed. In view of the above actuator fault model, a new adaptive compensation control scheme based on Backstepping adaptive design method is proposed by establishing a new parameterized model which is easy to deal with. To compensate for unknown actuator failures occurring in the system and allow unlimited number of faults, and to achieve the stability of the entire closed-loop system and the boundedness of all signals of the system. At the same time, the tracking error converges to the control target of an arbitrary residual set. (2): the actuator fault compensation control problem of the perturbed nonlinear system with unknown control direction. In order to further study the above systems, we introduce the Nussbaum gain method to remove the assumption that the high frequency gain symbol of the system is known in (1), relax the conditions in (1), and propose a new adaptive compensation control scheme.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
本文編號(hào)：2444681
[Abstract]:In the actual control system, due to the long running time of the system and the aging of the components, the actuator of the system will inevitably fail. The time of failure, the mode of failure, the size of the fault value, and the parameters of the fault are often unknown. In this case, the design of actuator fault compensation becomes more complicated and difficult. On the other hand, once the actuator failure occurs in the controlled system, the control quality of the system will be seriously reduced and damaged. Especially in aerospace and other important areas requiring high control accuracy, once the actuator failure occurs, the system will often cause major accidents. Therefore, based on the importance of theoretical research and practical consideration, it is necessary and meaningful to design a control scheme which can effectively compensate the actuator fault. In this paper, a general actuator fault model is studied for uncertain nonlinear systems with unknown control parameters and actuator faults and external disturbances. Inspired by the related papers, by establishing a new parametric model and designing a new adaptive compensation control scheme for the actuator, the unknown actuator fault is effectively compensated for the impact of the unknown actuator fault on the control quality of the controlled system. At the same time, the tracking control target of the system is realized. In this paper, based on the previous paper, for uncertain nonlinear systems with unknown parameters and actuator faults, The following two problems are discussed in this paper. (1) the actuator fault compensation control of perturbed nonlinear systems with known control direction is discussed. In view of the above actuator fault model, a new adaptive compensation control scheme based on Backstepping adaptive design method is proposed by establishing a new parameterized model which is easy to deal with. To compensate for unknown actuator failures occurring in the system and allow unlimited number of faults, and to achieve the stability of the entire closed-loop system and the boundedness of all signals of the system. At the same time, the tracking error converges to the control target of an arbitrary residual set. (2): the actuator fault compensation control problem of the perturbed nonlinear system with unknown control direction. In order to further study the above systems, we introduce the Nussbaum gain method to remove the assumption that the high frequency gain symbol of the system is known in (1), relax the conditions in (1), and propose a new adaptive compensation control scheme.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273
【參考文獻(xiàn)】
相關(guān)期刊論文 前2條
1 ;Adaptive failure compensation for uncertain systems with multiple inputs[J];Journal of Systems Engineering and Electronics;2011年01期
2 ;ADAPTIVE TRACKING CONTROL FOR ACTUATOR FAILURE COMPENSATION BASED ON MT-FILTERS[J];Journal of Systems Science & Complexity;2010年04期
，本文編號(hào)：2444681
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