双容液位系统鲁棒自适应容错控制

Adaptive Robust Fault-tolerant Control for Two-tank Liquid-level System

针对双容液位控制系统的泄漏等故障,通过线性化建模,研究了鲁棒自适应主动容错控制问题。首先在系统无故障正常运行情形,考虑建模误差和外界干扰等不确定性,利用不确定性上界自适应估计,设计了鲁棒自适应控制器。与此同时,对系统进行故障监控,设计了故障诊断滤波器,并利用对不确定性上界的估计终值提出了一种新的故障检测算法,进一步基于神经网络故障逼近,研究了一种修正控制律的自适应鲁棒容错控制器设计方法,该控制器通过补偿故障所带来的影响使闭环系统最终一致有界稳定。最后,通过仿真试验,验证了提出的方法的有效性。

To the fault such as leakage of two-tank liquid-level control system,the design problem of active adaptive robust fault-tolerant control is studied by setting up the linearized model.At first,on the case of normal work for the system,considering the uncertainties including of modelling error and external disturbance,the adaptive robust controller is designed by using the adaptive estimation of the upper bounded of uncertainties.At the same time,the system is supervised by designing a fault filter,and a novel algorithm for fault detection is proposed.A fault-tolerant controller is reconfigured by using the fault estimation obtained by the neural network of the proposed fault diagnosis,and the stability of the closed-loop system is rigorously investigated to remain uniformly ultimately bounded.The simulation results show the effectiveness of the proposed approach.