具有自适应调节律的非线性系统执行器故障检测和隔离方法

Actuator fault detection and isolation method with adaptation law for nonlinear systems

针对受到外部干扰的非线性系统,讨论了基于观测器的执行器故障检测和隔离方法.首先,通过引入一个对Lipschitz非线性项Lipschitz常数自适应调节的微分调节项,使得观测器具有自适应性,从而使观测器设计具有无须知道Lipschitz常数大小的优点;然后,通过一滑模控制项来抑制干扰,使观测器具有鲁棒性,并在此基础上,结合多观测器故障隔离的思想,提出了执行器故障检测和隔离方法;最后,通过对一个七阶飞行器实际模型的仿真,表明了该方法的实用性.

The problems of actuator fault detection and isolation based on observers are discussed for uncertain nonlinear systems. By introducing an adaptation law which can adjust the Lipschitz constant of Lipschitz term,self-adaptability of the developed observer is derived,and the Lipschitz constant can be unknown. By using a sliding model control law,the uncertain is controlled,which makes the observer robust. Futhermore,multi-observers are used to reach the actuator fault isolation purpose. Finally,the results of the simulation to a real model of a seventh-order aircraft show the feasibility of the proposed method.