具有输出时延的网络控制系统故障检测

Fault Detection of Networked Control Systems with Output Delays

考虑一类具有长时延的网络控制系统,假定其传感器到控制器之间存在输出时延,对其进行故障检测研究。建立具有时延补偿功能的故障观测器,得到状态估计误差方程。基于离散切换系统理论,将观测器系统的稳定条件归结为一个线性矩阵不等式。当系统正常时,只要给定的矩阵不等式条件成立,该观测器系统就是渐近稳定的。当系统发生故障时,观测器残差能够迅速发生跳变,从而检测出故障的发生。仿真示例验证了方法的有效性。

Considering a class of networked control systems with long time delays, the fault detection is carried out supposing that the output delays are present between the sensor and the controller. The fault observer with delay compensation is constructed, and the state estimate error equation is given. Based on the theory of discrete switching systems, a linear matrix inequality is given to express the stability condition of this observer. When the system is normal, if the given inequality condition is satisfied, the observer system is asymptotically stable. When a fault is present, the observer residual can change rapidly and detect the occurrence of the fault. An illustrative example shows the effectiveness of the proposed method.