含控制时滞系统的实时故障诊断和最优容错控制

Real-time fault diagnosis and optimal fault-tolerant control for systems with control time-delay

研究含有控制时滞的线性系统的故障诊断方法和最优容错控制问题.给出了最优容错控制律的存在唯一性条件,提出了最优容错控制律的设计算法.通过构造增广的降维状态观测器,设计了在线诊断故障的故障诊断器并同时实现了系统状态的观测,解决了最优容错控制的物理不可实现问题.利用观测器的输出得到物理可实现的动态最优容错控制律.仿真实例验证了故障诊断方法和动态最优容错控制律的有效性.

The method of fault diagnosis and the optimal fault-tolerant control problem are studied for linear systems with control time-delay. The existence and uniqueness condition of optimal fault-tolerant control law is given, and the algorithm for solving the optimal fault-tolerant control problem is presented. The on-line fault diagnosis and the observation of system states are realized by constructing the augmented reduced-order state ohserver, and the physically unrealizable problem is solved. In addition, the physically realizable dynamic optimal fault-tolerant control law is obtained by ulitizing the outputs of state observer. Simulation example shows the effectiveness of the fauh diagnosis scheme and the dynamic optimal fault-tolerant control law.